将 Cmake 与 PCL 和 OpenCV 结合使用

Question

我是计算机视觉的新手。在 Cmake 上，我正在尝试将 PCL 和 OpenCV 与 2D 激光雷达传感器结合使用。

我看到了这个教程：[http://unanancyowen.com/en/pcl18/#Download 1

并在 CmakeLists.txt 上配置 PCL 使用以下代码：

cmake_minimum_required( VERSION 2.8 )
# Create Project
project( solution )
add_executable( project main.cpp )
set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )

# Find Packages
find_package( PCL 1.8 REQUIRED )

if( PCL_FOUND )
  # Additional Include Directories
  # [C/C++]>[General]>[Additional Include Directories]
  include_directories( ${PCL_INCLUDE_DIRS} )

  # Preprocessor Definitions
  # [C/C++]>[Preprocessor]>[Preprocessor Definitions]
  add_definitions( ${PCL_DEFINITIONS} )
  #add_definitions( -DPCL_NO_PRECOMPILE )

  # Additional Library Directories
  # [Linker]>[General]>[Additional Library Directories]
  link_directories( ${PCL_LIBRARY_DIRS} )

  # Additional Dependencies
  # [Linker]>[Input]>[Additional Dependencies]
  target_link_libraries( project ${PCL_LIBRARIES} )
endif()

和configure CmakeLists.txt for OpenCV，下面的代码：

cmake_minimum_required( VERSION 3.6 )

# Create Project
project( solution )
add_executable( project main.cpp )
set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )

# Find OpenCV
set( OpenCV_DIR "C:/Program Files/opencv/build" )
find_package( OpenCV REQUIRED )

# Project Settings for OpenCV
if( OpenCV_FOUND )
  # Additional Include Directories
  # [C/C++]>[General]>[Additional Include Directories]
  include_directories( ${OpenCV_INCLUDE_DIRS} )

  # Additional Library Directories
  # [Linker]>[General]>[Additional Library Directories]
  link_directories( ${OpenCV_LIB_DIR} )

  # Additional Dependencies
  # [Linker]>[Input]>[Additional Dependencies]
  target_link_libraries( project ${OpenCV_LIBS} )
endif()

如何使 CmakeLists.txt 与两者一起使用？ PCL 和 OpenCV。

Answer 1

在网站上找到了我得到这些文件的答案： http://unanancyowen.com/en/pcl18/#comment-1221

这是提取 OpenCV 和 PCL:

的代码

cmake_minimum_required( VERSION 2.8 )
# Create Project
project( solution )
add_executable( project main.cpp )

# Set StartUp Project (Option)
# (This setting is able to enable by using CMake 3.6.0 RC1 or later.)
set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )

# Find Packages
# Find PCL
find_package( PCL 1.8 REQUIRED )

# Find OpenCV
set( OpenCV_DIR "C:/Program Files/opencv/build" )
find_package( OpenCV REQUIRED )

if( PCL_FOUND AND OpenCV_FOUND )
  # [C/C++]>[General]>[Additional Include Directories]
  include_directories( ${PCL_INCLUDE_DIRS} )
  include_directories( ${OpenCV_INCLUDE_DIRS} )

  # [C/C++]>[Preprocessor]>[Preprocessor Definitions]
  add_definitions( ${PCL_DEFINITIONS} )

  # For Use Not PreCompiled Features 
  #add_definitions( -DPCL_NO_PRECOMPILE )

  # [Linker]>[General]>[Additional Library Directories]
  link_directories( ${PCL_LIBRARY_DIRS} )
  link_directories( ${OpenCV_LIB_DIR} )

  # [Linker]>[Input]>[Additional Dependencies]
  target_link_libraries( project ${PCL_LIBRARIES} )
  target_link_libraries( project ${OpenCV_LIBS} )
endif()

然后在这个 link there is an old explanation and here my question on the OpenCV here.

Answer 2

要在同一个项目中同时使用PCL和OpenCV，可以将CMakeLists.txt文件写成最小行如下：

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(project_name)

find_package(PCL 1.4 REQUIRED)
find_package(OpenCV REQUIRED)

include_directories(${PCL_INCLUDE_DIRS} )
link_directories(${PCL_LIBRARY_DIRS} )
add_definitions(${PCL_DEFINITIONS} )

add_executable (project_executable main.cpp)
target_link_libraries (project_executable ${PCL_LIBRARIES} ${OpenCV_LIBS})

将 Cmake 与 PCL 和 OpenCV 结合使用

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