基于Open3D和Azure Kinect DK实现的三维重建C++源码+项目说明.zip

# Enable C++11 cmake_minimum_required(VERSION 3.10) SET(CMAKE_CXX_STANDARD 17) #Open3D需要C++14以上版本 SET(CMAKE_CXX_STANDARD_REQUIRED TRUE) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -pthread") #### AcquiringPointCloud #### # Define project name # project(AcquiringPointCloud) SET(this_target AcquiringPointCloud) # Kinect DK相机 find_package(k4a REQUIRED)# 后面的target_link_libraries中用到了k4a::k4a # eigen find_package(Eigen3 REQUIRED) include_directories("/usr/include/eigen3") #OPEN3D find_package(Open3D HINTS REQUIRED) # Declare the executable target built from your sources add_executable(AcquiringPointCloud src/AcquiringPointCloud.cpp src/CasAzureKinectExtrinsics.cpp) # Link your application with other libraries target_link_libraries(AcquiringPointCloud ${Eigen3_LIBRARIES} ${Open3D_LIBRARIES} k4a::k4a ) #### CasGeneratePointCloud #### # 快速点云 #SET(this_target CasGeneratePointCloud) # #find_package(k4a REQUIRED)# 后面的target_link_libraries中用到了k4a::k4a # #find_package(Open3D REQUIRED) # #find_package(Eigen3 REQUIRED) #include_directories("/usr/include/eigen3") # #add_executable(CasGeneratePointCloud CasGeneratePointCloud.cpp CasAzureKinectExtrinsics.cpp CasPointCloud.cpp) # #target_link_libraries(CasGeneratePointCloud # k4a::k4a # ${Open3D_LIBRARIES} # ) #### CasGenerateColorPointCloud #### # 快速彩色点云 #SET(this_target CasGenerateColorPointCloud) # #find_package(k4a REQUIRED)# 后面的target_link_libraries中用到了k4a::k4a # #find_package(Open3D REQUIRED) # #find_package(Eigen3 REQUIRED) #include_directories("/usr/include/eigen3") # #add_executable(CasGenerateColorPointCloud CasGenerateColorPointCloud.cpp CasAzureKinectExtrinsics.cpp CasPointCloud.cpp) # #target_link_libraries(CasGenerateColorPointCloud # k4a::k4a # ${Open3D_LIBRARIES} # ) #### CasGeneratePointCloud #### # 快速点云 #SET(this_target FastPointCloud) # #find_package(k4a REQUIRED)# 后面的target_link_libraries中用到了k4a::k4a # #add_executable(FastPointCloud FastPointCloud.cpp) # #target_link_libraries(FastPointCloud # k4a::k4a # ) #### CasPointCloud #### # Cas的点云处理 #SET(this_target CasPointCloud) #find_package(Open3D HINTS REQUIRED) #set(Open3D_INCLUDE_DIRS "/usr/local/include") #include_directories(${Open3D_INCLUDE_DIRS}) #include_directories(/usr/local/include/open3d/3rdparty) #link_directories(${Open3D_LIBRARY_DIRS}) # #add_executable(CasPointCloud CasPointCloud.cpp) # #target_link_libraries(CasPointCloud ${Open3D_LIBRARIES}) #### CasViewingPointCloud #### # 点云可视化 SET(this_target CasViewingPointCloud) find_package(Open3D HINTS REQUIRED) include_directories(${Open3D_INCLUDE_DIRS}) include_directories(/usr/local/include/open3d/3rdparty) link_directories(${Open3D_LIBRARY_DIRS}) add_executable(CasViewingPointCloud src/CasViewingPointCloud.cpp) target_link_libraries(CasViewingPointCloud ${Open3D_LIBRARIES}) #### AzureKinectExtrinsic #### # AzureKinect外部参数 #SET(this_target CasAzureKinectExtrinsic) # #find_package(k4a REQUIRED) #OPEN3D #find_package(Open3D REQUIRED) #include_directories(${Open3D_INCLUDE_DIRS}) #include_directories(/usr/local/include/open3d/3rdparty) #link_directories(${Open3D_LIBRARY_DIRS}) #add_executable(CasAzureKinectExtrinsic CasAzureKinectExtrinsics.cpp) # #target_link_libraries(CasAzureKinectExtrinsic # k4a::k4a # ) #### AzureKinectViewer #### # 官方示例 #SET(this_target AzureKinectViewer) # #find_package(k4a REQUIRED) # ##OPEN3D #find_package(Open3D REQUIRED) #include_directories(${Open3D_INCLUDE_DIRS}) #include_directories(/usr/local/include/open3d/3rdparty) #link_directories(${Open3D_LIBRARY_DIRS}) # #add_executable(AzureKinectViewer AzureKinectViewer.cpp) # #target_link_libraries(AzureKinectViewer # ${Open3D_LIBRARIES} # k4a::k4a # ) #### AzureKinectRecord #### # 官方示例 #SET(this_target AzureKinectRecord) # #find_package(k4a REQUIRED) # ##OPEN3D #find_package(Open3D REQUIRED) #include_directories(${Open3D_INCLUDE_DIRS}) #include_directories(/usr/local/include/open3d/3rdparty) #link_directories(${Open3D_LIBRARY_DIRS}) # #add_executable(AzureKinectRecord AzureKinectRecord.cpp CasAzureKinectExtrinsics.cpp) # #target_link_libraries(AzureKinectRecord # ${Open3D_LIBRARIES} # k4a::k4a # ) #### AzureKinectMKVReader #### # 官方示例 #SET(this_target AzureKinectMKVReader) # #find_package(k4a REQUIRED) # ##OPEN3D #find_package(Open3D REQUIRED) #include_directories(${Open3D_INCLUDE_DIRS}) #include_directories(/usr/local/include/open3d/3rdparty) #link_directories(${Open3D_LIBRARY_DIRS}) # #add_executable(AzureKinectMKVReader AzureKinectMKVReader.cpp) # #target_link_libraries(AzureKinectMKVReader # k4a::k4a # ${Open3D_LIBRARIES} # ) # #### Open3DTest #### # 保持注释，Open3D测试用 #SET(this_target Open3DTest) # #find_package(Open3D HINTS REQUIRED) ##set(Open3D_INCLUDE_DIRS "/usr/local/include") #include_directories(${Open3D_INCLUDE_DIRS}) #include_directories(/usr/local/include/open3d/3rdparty) #link_directories(${Open3D_LIBRARY_DIRS}) # #add_executable(Open3DTest Open3DTest.cpp) # #target_link_libraries(Open3DTest ${Open3D_LIBRARIES})