Ubuntu18.04 安装Open3D

Ubuntu18.04 安装Open3D

准备工作

根据open3d官网的教程确定gcc5+ clang7+ cmake3.19+ 的版本限制，不满足要求的要升级一下：
参考链接：
cmake升级
clang升级

编译安装

按照链接Ubuntu 18.04 安装Open3D C++版本的安装部分依次操作即可

报错处理

cmake版本太低

升级cmake，cmake升级

cmake时报错：can not find libc++ libc++abi libraries with version >=7

升级clang，clang升级

cmake和make时，下载失败

网络问题。
（1）配置clash：ubuntu18.04 配置clash（设置了私密，需要私我）
（2）如果仍然不能解决，手动下载相关包，并放置在dst指示的地址中：参考解决安装open3d下载失败问题

完结撒花

测试程序：
main.cpp

#include <iostream>
#include <memory>
#include <thread>
#include </usr/local/include/open3d/Open3D.h>int main(int argc, char * argv[]) {std::cout << "Hello, Open3D!! " << std::endl;open3d::utility::SetVerbosityLevel(open3d::utility::VerbosityLevel::Debug);auto pcd = open3d::io::CreatePointCloudFromFile(argv[1]);// 1. test downsampleauto downsampled = pcd->VoxelDownSample(0.05);{open3d::utility::ScopeTimer timer("FPFH estimation with Radius 0.25");open3d::pipelines::registration::ComputeFPFHFeature(*downsampled, open3d::geometry::KDTreeSearchParamRadius(0.25));}// 2. 估计点云的法向量{open3d::utility::ScopeTimer timer("Normal estimation with KNN20");for (int i = 0; i < 20; i++){downsampled->EstimateNormals(open3d::geometry::KDTreeSearchParamKNN(20));}}std::cout << downsampled->normals_[0] << std::endl;std::cout << downsampled->normals_[10] << std::endl;{open3d::utility::ScopeTimer timer("Normal estimation with Radius 0.01666");for(int i=0; i<20; i++){downsampled->EstimateNormals(open3d::geometry::KDTreeSearchParamRadius(0.01666));}}std::cout << downsampled->normals_[0] << std::endl;std::cout << downsampled->normals_[10] << std::endl;open3d::visualization::DrawGeometries({downsampled}, "TestPCD", 1920, 1080);return 0;
}

修改：
(1)#include <open3d/Open3D.h>改成#include </usr/local/include/open3d/Open3D.h>，否则会报错找不到头文件；
(2)open3d::registration::ComputeFPFHFeature(*downsampled, open3d::geometry::KDTreeSearchParamRadius(0.25));改成 open3d::pipelines::registration::ComputeFPFHFeature(*downsampled, open3d::geometry::KDTreeSearchParamRadius(0.25));

cmake_minimum_required(VERSION 2.8)
project(open3d_test)set(CMAKE_CXX_STANDARD 11)find_package( Open3D  REQUIRED)include_directories(${Open3D_INCLUDE_DIRS})
link_directories(${Open3D_LIBRARY_DIRS})add_executable(TestVisualizer main.cpp)
target_link_libraries(TestVisualizer ${Open3D_LIBRARIES})target_include_directories(TestVisualizer PUBLIC ${Open3D_INCLUDE_DIRS})

运行结果：