windows下编译pcl-master源码（带GPU）

参考博客

1.http://pointclouds.org/documentation/tutorials/compiling_pcl_windows.php#compiling-pcl-windows

2. https://blog.csdn.net/artista/article/details/50897833

编译步骤

1．  第一步：下载pcl-master   https://github.com/PointCloudLibrary/pcl

           Eigen

            Boost

            Flann

            Openni2

            Qhull

            Vtk

           （第三方库我打算用pcl1.8的预编译库,即先安装好预编译的pcl1.8，因为预编译的1.8版本不包含gpu和cuda模块所以决定自己编译一遍）

2．  第二步：安装cuda

3.第三步：以管理员身份运行cmake（不知是否必要） 

4.第四步：设置一些cmake找不到的变量

1.EIGEN_INCLUDE_DIR D:/pcl/3rdParty/Eigen/eigen3

Configure

2.Boost_INCLUDE_DIR D:/pcl/3rdParty/Boost/include/boost-1_59

5.CONFIGURE

全部勾选上

出现错误：

CMake Error at C:/ProgramFiles/CMake/share/cmake-3.11/Modules/FindBoost.cmake:2044 (message):
Unable to find the requested Boost libraries.

Boost version: 1.59.0

Boost include path: D:/pcl/3rdParty/Boost/include/boost-1_59

Could not find the following static Boost libraries:

boost_filesystem
boost_thread
boost_date_time
boost_iostreams
boost_chrono

boost_system

Some (but not all) of the required Boost libraries were found. You may
need to install these additional Boost libraries. Alternatively, set
BOOST_LIBRARYDIR to the directory containing Boost libraries or BOOST_ROOT
to the location of Boost.
Call Stack (most recent call first):
cmake/pcl_find_boost.cmake:41 (find_package)
CMakeLists.txt:419 (include)

解决办法：

手动将boost库一个一个添加进去

因为预编译的第三方库没有分好类，于是手动分类又添加了两个路径

CMake Error at C:/ProgramFiles/CMake/share/cmake-3.11/Modules/FindPackageHandleStandardArgs.cmake:137(message):
Could NOT find Gtest (missing: GTEST_INCLUDE_DIR GTEST_SRC_DIR)
Call Stack (most recent call first):
C:/Program Files/CMake/share/cmake-3.11/Modules/FindPackageHandleStandardArgs.cmake:378(_FPHSA_FAILURE_MESSAGE)
cmake/Modules/FindGtest.cmake:35 (find_package_handle_standard_args)
test/CMakeLists.txt:11 (find_package)

取消掉globaltest

Cmake成功

-------------------------------------------------

打开vs2013工程再编译一下

Debug x64

1.All-build 重新生成

除了（example_nurbs_viewer_surface失败其他都成功了）

就不管那个了，因为主要用到gpu和cuda

2.INSTALL重新生成

Releasex64 进行同样的操作

                   ---------------解析---------------

1.Cmake中CMAKE_INSTALL_PREFIX   C:/Program Files/PCL

放了编译出来的库（当前环境下（vs2013）可以用的东西（动态库，可执行文件，静态库））

动态库放在了bin里面

静态库放在了lib里面

2.whereto build the binaries：D:/pcl-master/build

存放的是cmake出来的文件（工程文件）即：构建样例工程及源码的文件