Configure C++ Samples With CMake and Build Them in Visual Studio in Windows

이 자습서는 CMake로 Zivid C++ 샘플을 구성한 다음 Windows에서 Visual Studio로 빌드하는 방법을 보여줍니다.

Requirements

• Zivid Software

• Visual Studio

• Git

• Zivid C++ Samples

• CMake

Optional requirements

일부 샘플은 다음과 같은 외부 라이브러리가 필요합니다.

• Point Cloud Library

• Eigen

• OpenCV

• Halcon

• Open3D

참고

The following instructions have been tested with these versions of the dependencies:

• Visual Studio 2019 and higher

• CMake 3.24 and higher

• PCL 1.12.1

• Eigen 3.4.0

• OpenCV 4.7.0

• Open3D 0.19.0

If you are using other versions, you may encounter issues.

Instructions

Clone C++ Samples

Clone the GitHub Zivid C++ Samples repository. To clone it, launch the Command Prompt by pressing Win + R keys on the keyboard, then type cmd and press Enter.

Navigate to a location where you want to clone the repository, e.g.

cd C:\Users\Public

그런 다음 다음 명령을 실행합니다.

git clone https://github.com/zivid/zivid-cpp-samples

Configure the solution with CMake

Run CMake either through the Command Prompt or CMake GUI.

Command Prompt

Create a build directory in the directory of zivid-cpp-samples and configure the solution by running:

mkdir build && cd build
cmake -DUSE_EIGEN3=OFF -DUSE_OPENCV=OFF -DUSE_PCL=OFF -DUSE_OPEN3D=OFF ../source

팁

Make sure cmake is in your system PATH to use the above command. See the below dropdown for how to add CMake to your system PATH.

Add CMake to the system PATH

On your PC, navigate to Control Panel → System and Security → System → Advanced System Settings → Environment Variables. Under System variables, select the Path variable and click Edit.

In the Edit environment variable window, click New and add the path to CMake binaries, e.g.

C:\Program Files\CMake\bin

if you have installed CMake in Program Files.

경고

You may have to sign out of your Windows account and in again for the changes to take place.

Open the generated Visual Studio solution ZividCppSamples.sln in File Explorer to further build the samples.

CMake GUI

Open CMake GUI and select the source folder and destination for the build folder.

Click Configure. Specify your generator for the project and make sure the (optional) platform is x64. Click Finish.

Configure 을 다시 클릭합니다.

Click OK on the CMake error and disable the variables USE_EIGEN3, USE_OPENCV, USE_PCL and USE_OPEN3D to configure the solution without these dependencies.

Finally click Configure one last time and click Generate and Open Project to open the Visual Studio solution.

Build the solution

In Visual Studio, change the build configuration from Debug to Release. Build the solution by pressing Ctrl + Shift + B.

Run the sample program

Navigate to the Release folder and run a sample program either by double clicking the exe in File Explorer or using the Command Prompt, e.g.

.\CaptureVis3D.exe

Running samples that require Sample Data

Some of the samples require additional data to run, like point clouds, file cameras, transformations, etc. Go to Sample Data for instructions on how to download and install these.

Configuring the samples with optional dependencies

Some of the samples depend on Point Cloud Library, Eigen, OpenCV, Open3D and/or Halcon. If you want to run samples with one or more of these dependencies, follow the instructions in the below dropdown.

Optional dependencies

Install the required dependencies based on the sample programs you want to run; see the table below.

Sample program	PCL	Eigen	OpenCV	Halcon	Open3D
ReadPCLVis3D	YES
CaptureWritePCLVis3D	YES
CaptureHDRVisNormals	YES
StitchByTransformation					YES
StitchByTransformationFromZDF					YES
MaskPointCloud	YES		YES
ROIBoxViaCheckerboard		YES
UtilizeHandEyeCalibration		YES
PoseConversions		YES
ROIBoxViaArucoMarker		YES	YES
CaptureUndistort2D			YES
CreateDepthMap			YES
ProjectAndFindMarker			YES
ReprojectPoints			YES
ReadAndProjectImage			YES
GammaCorrection			YES
AllocateMemoryForPointCloudData			YES
TransformPointCloudViaCheckerboard			YES
TransformPointCloudViaArucoMarker			YES
CaptureHalconViaGenICam				YES
CaptureHalconViaZivid				YES

Eigen

Download the latest stable release of Eigen from http://eigen.tuxfamily.org/ and extract the folder to your desired destination. When configuring the CMake project, include Eigen to configure the samples that depend on it.

Command Prompt

Navigate to the build directory you created in zivid-cpp-samples and run

cmake -DEIGEN3_INCLUDE_DIR=<path> -DUSE_OPENCV=OFF -DUSE_PCL=OFF -DUSE_EIGEN3=OFF ../source

where <path> is the full path to where you installed Eigen, e.g. C:/Program Files/Eigen.

CMake GUI

In CMake GUI, click Add Entry to add the path to Eigen. Add EIGEN3_INCLUDE_DIR and point the value to where you extracted the folder.

Ensure that the box USE_EIGEN3 is checked and click Configure. Then click Generate and Open Project to open the Visual Studio solution.

PCL

Download and install prebuilt PCL binaries by choosing the .exe at https://github.com/PointCloudLibrary/pcl/releases. Check the option to install 3rd Party Libraries.

Some settings must be included in the PATH system variable before you can configure the Zivid PCL code samples. On your PC, navigate to Control Panel → System and Security → System → Advanced System Settings → Environment Variables. Under System variables, select the Path variable and click Edit.

In the Edit environment variable window, click New and add the paths to the PCL binaries and OpenNI2 (3rd party library), e.g.

C:\Program Files\PCL 1.12.1\bin
C:\Program Files\OpenNI2\Tools

if you have installed PCL 1.12.1 and OpenNI2 in Program Files. You may have to sign out of your Windows account and in again for the changes to take place.

경고

You may have to manually link to some of the third-party PCL libraries, like VTK. If you encounter errors, add the path to the binaries of the library in the PATH system variable. E.g. for VTK, you would add C:/Program Files/PCL 1.12.1/3rdParty/VTK/bin if you installed PCL 1.12.1 in Program Files.

When configuring the CMake project, the paths to PCL should already be configured.

Command Prompt

Navigate to the build directory you created in zivid-cpp-samples and run

cmake -DUSE_PCL=ON -DUSE_EIGEN3=OFF -DUSE_OPENCV=OFF ../source

CMake GUI

In CMake GUI, ensure that the box USE_PCL is checked and click Configure.

Click Generate and Open Project to open the Visual Studio solution.

OpenCV

Download and install prebuilt OpenCV binaries from https://opencv.org/releases/. Extract them to your desired destination, e.g.

C:\Users\Public

Some settings must be included in the PATH system variable before you can configure the Zivid OpenCV code samples. On your PC, navigate to Control Panel → System and Security → System → Advanced System Settings → Environment Variables. Under System variables, select the Path variable and click Edit.

In the Edit environment variable window, click New and add the path to the OpenCV binaries, e.g.

C:\Program Files\opencv\build\x64\vc16\bin

if you have installed OpenCV 4.7.0 and extracted it to C:/Program Files/opencv.

경고

You may have to sign out of your Windows account and in again for the changes to take place.

When configuring the CMake project, include OpenCV to configure the samples that depend on it.

Command Prompt

Navigate to the build directory you created in zivid-cpp-samples and run

cmake -DOpenCV_DIR=<path> -DUSE_EIGEN3=OFF -DUSE_PCL=OFF ../source

where <path> is the full path to the OpenCV build folder, e.g. C:/Program Files/opencv/build.

CMake GUI

In CMake GUI, click Add Entry to add the path to OpenCV. Add OpenCV_DIR and point the value to the OpenCV build folder.

Ensure that the box USE_OPENCV is checked and click Configure. Then click Generate and Open Project to open the Visual Studio solution.

Halcon

You need Halcon installed on your PC to run the Halcon C++ samples. Go to Install Zivid + HALCON for Windows for further instructions.

After you have installed Halcon, configure CMake to use Halcon samples.

Command Prompt

Navigate to the build directory you created in zivid-cpp-samples and run

cmake -DUSE_HALCON=ON -DUSE_EIGEN3=OFF -DUSE_OPENCV=OFF -DUSE_PCL=OFF -DUSE_OPEN3D=OFF ../source

CMake GUI

Ensure that the box USE_HALCON is checked and click Configure.

Then click Generate and Open Project to open the Visual Studio solution.

Open3D

Download and install prebuilt Open3D binaries from https://github.com/isl-org/Open3D/releases. Open3D does not support multi-configuration builds, so you must choose which to configure for.

Release

For version 0.19.0: https://github.com/isl-org/Open3D/releases/download/v0.19.0/open3d-devel-windows-amd64-0.19.0.zip.

Debug

For version 0.19.0: https://github.com/isl-org/Open3D/releases/download/v0.19.0/open3d-devel-windows-amd64-0.19.0-dbg.zip.

Extract them to your desired destination, e.g.

Release

C:\Program Files\Open3D

Debug

C:\Program Files\Open3D-Debug

In order for CMake to find Open3D you must do one of the following:

• set the CMAKE_INSTALL_PREFIX variable to point to the folder containing the CMake folder, or you must

• set the Open3D_DIR variable to point to the folder containing the Open3DConfig.cmake file

Command Prompt

Navigate to the build directory you created in zivid-cpp-samples and run

cmake -DUSE_OPEN3D=ON -DCMAKE_INSTALL_PREFIX=<path-to-open3d> -DUSE_EIGEN3=OFF -DUSE_OPENCV=OFF -DUSE_PCL=OFF ../source

where <path-to-open3d> is the path to the Open3D folder, e.g. C:/Program Files/Open3D.

CMake GUI

Add to CMAKE_INSTALL_PREFIX or set Open3D_DIR variable to point to the Open3D folder.

Ensure that the box USE_OPEN3D is checked and click Configure.

Then click Generate and Open Project to open the Visual Studio solution.

In order to run the Open3D samples, you must add the Open3D binary folder to your PATH environment variable.

If you want to configure multiple dependencies at once, you can simply add multiple dependencies at the same time in CMake. For example, if you want to use all samples that require Eigen and Open3D, you can run

Ubuntu

mkdir build
cd build
cmake -DEIGEN3_INCLUDE_DIR=/usr/include/eigen3 -DUSE_OPEN3D=ON -DUSE_PCL=OFF -DUSE_OPENCV=OFF ../source

Windows

cmake -DEIGEN3_INCLUDE_DIR=<path-to-eigen> -DUSE_OPEN3D=ON -DCMAKE_INSTALL_PREFIX=<path-to-open3d> -DUSE_PCL=OFF -DUSE_OPENCV=OFF ../source

where <path-to-open3d> is the path to the Open3D folder, e.g. C:/Program Files/Open3D.

Debug the sample program

To debug a sample you must add C:/Program Files/Zivid/bin_debug to your PATH environment variable. Follow the instructions in the below dropdown to do this.

Debugging a sample program

PC에서 다음으로 이동합니다. Control Panel → System and Security → System → Advanced System Settings → Environment Variables.

Under System variables, select Path variable and click Edit.

Environment variables 창에서 New (창의 오른쪽 상단 모서리, 사용자 변수 섹션)를 클릭하고 다음 값을 추가합니다.

C:\Program Files\Zivid\bin_debug

참고

If you want to debug a program that depends on an input file you must change Working Directory to ${TargetDir}.

Change the build configuration from Release to Debug. Then click F5 to build and run with debug.

Version History

SDK	Changes
2.16.0	Added instructions for configuring C++ samples with optional dependencies on Ubuntu. Added instructions for configuring Open3D on both Ubuntu and Windows.