使用 CMake 配置 C++ 示例并在 Windows 的 Visual Studio 中构建它们

本教程展示了如何使用CMake配置Zivid C++示例，然后在Windows中使用Visual Studio构建它们。

要求

Optional requirements

一些示例依赖于外部库，特别是：

说明

克隆C++示例

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.

cd C:\Users\Public

然后运行以下命令：

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

使用CMake配置解决方案

Run CMake either through the Command Prompt or CMake GUI.

Command Prompt

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

cd source
mkdir build && cd build
cmake -A x64 -DUSE_EIGEN3=OFF -DUSE_OPENCV=OFF -DUSE_PCL=OFF ..

小技巧

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.

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.

再次点击 Configure 。

Screenshot of CMake GUI with dependency errors.

Click OK on the CMake error and disable the variables USE_EIGEN3, USE_OPENCV and USE_PCL 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.

构建解决方案

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

运行示例程序

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 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.

示例程序	PCL	Eigen	OpenCV	OpenCV_Contrib	Halcon
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

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, PCL and OpenCV, you can run

cmake -A x64 --fresh -DEIGEN3_INCLUDE_DIR=<path-to-eigen> -DUSE_PCL=ON -DOpenCV_DIR=<path-to-opencv>

where <path-to-eigen> and <path-to-opencv> are the paths to your Eigen and OpenCV folders.

调试示例程序

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.