在Windows平台上编译ElasticFusion

最近在看ElasticFusion的文章，打算在Windows平台上进行复现，由于涉及到众多软件，故在此记录一下编译过程，以备后续升级软件使用。这篇主要记录完整的Debug x64版编译过程， 如果不想自己编译，可直接从用我的百度云分享，这里也有编译所需的全部文件。 我的项目根目录是D:\ElasticFusionDebug，其下属的文件目录示例结构如下：

Eigen blasElasticFusionOpenNI2 OpenNI.slnPangolinSuiteSparse build

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1. OpenNI2 Debug x64版

按照我的博客“ElasticFusion之OpenNI2编译”编译OpenNI的Debug x64版本。

2. SuiteSparse Release x64版

按照我的博客“ElasticFusion之Eigen+SuiteSparce编译”编译SuiteSparse的Release x64版本，不能编译Debug x64版。

3. Pangolin Debug x64版

按照我的博客“ElasticFusion之Pangolin编译”编译Pangolin的Debug x64版。

4. ElasticFusion Core Debug x64版

参考链接 将下面的代码保存为static_glew_init.hpp，并放到在ElasticFusion/Core/src文件夹下。

/* Function to get, find, or initialize Pangolin context and initialize glew */ #if !defined(__STATIC_GLEW_INIT_HPP__) #define __STATIC_GLEW_INIT_HPP__ #define GLEW_STATIC #include <pangolin/pangolin.h> #include <pangolin/gl/gl.h> #include <pangolin/gl/glplatform.h> #include <pangolin/display/display_internal.h> #include <string> static inline void staticGlewInit(std::string name = "Main") { // GetCurrentContext pangolin::PangolinGl* context = pangolin::GetCurrentContext(); if (context == NULL) { // Find Context context = pangolin::FindContext(name); if (context == NULL) { // Create new std::shared_ptr<pangolin::PangolinGl> newcontext(new pangolin::PangolinGl()); AddNewContext(name, newcontext); context = newcontext.get(); std::cout << "Pangolin Context" << name << "created." << std::endl; } else { std::cout << "Pangolin Context" << name << "already exists." << std::endl; } // Make Current Context context->MakeCurrent(); // Initialize GLEW glewExperimental = GL_TRUE; // GL_FALSE; GLenum error = glGetError(); if (error != GL_NO_ERROR) { std::cout << "OpenGL Error: " << error << std::endl; } GLenum glewinit = glewInit(); if (glewinit != GLEW_OK) { std::cout << "Glew Error: " << glewGetErrorString(glewinit) << std::endl; exit(EXIT_FAILURE); } } else { std::cout << "Pangolin Current Context exists." << std::endl; } } #endif /* !__STATIC_GLEW_INIT_HPP__ */

修改CMakeLists.txt文件，添加下面两个变量，如下所示：

set(SUITESPARSE_INCLUDE_DIR "D:/ElasticFusionDebug/SuiteSparse/build/install/include/suitesparse") set(SUITESPARSE_LIBRARY_DIR "D:/ElasticFusionDebug/SuiteSparse/build/install/lib64")

用CMake生成VS解决方案，打开，在efusion工程Header Files筛选器中添加static_glew_init.hpp。再打开Shaders.h文件，在Shader类Shader()构造函数中添加staticGlewInit()函数，修改后的文件如下所示：

/* * This file is part of ElasticFusion. * * Copyright (C) 2015 Imperial College London * * The use of the code within this file and all code within files that * make up the software that is ElasticFusion is permitted for * non-commercial purposes only. The full terms and conditions that * apply to the code within this file are detailed within the LICENSE.txt * file and at <http://www.imperial.ac.uk/dyson-robotics-lab/downloads/elastic-fusion/elastic-fusion-license/> * unless explicitly stated. By downloading this file you agree to * comply with these terms. * * If you wish to use any of this code for commercial purposes then * please email researchcontracts.engineering@imperial.ac.uk. * */ #ifndef SHADERS_SHADERS_H_ #define SHADERS_SHADERS_H_ #include <pangolin/gl/glsl.h> #include <memory> #include "../Utils/Parse.h" #include "../static_glew_init.hpp" #include "Uniform.h" class Shader : public pangolin::GlSlProgram { public: Shader() { // glewInit staticGlewInit(); } GLuint programId() { return prog; } void setUniform(const Uniform & v) { GLuint loc = glGetUniformLocation(prog, v.id.c_str()); switch(v.t) { case Uniform::INT: glUniform1i(loc, v.i); break; case Uniform::FLOAT: glUniform1f(loc, v.f); break; case Uniform::VEC2: glUniform2f(loc, v.v2(0), v.v2(1)); break; case Uniform::VEC3: glUniform3f(loc, v.v3(0), v.v3(1), v.v3(2)); break; case Uniform::VEC4: glUniform4f(loc, v.v4(0), v.v4(1), v.v4(2), v.v4(3)); break; case Uniform::MAT4: glUniformMatrix4fv(loc, 1, false, v.m4.data()); break; default: assert(false && "Uniform type not implemented!"); break; } } }; static inline std::shared_ptr<Shader> loadProgramGeomFromFile(const std::string& vertex_shader_file, const std::string& geometry_shader_file) { std::shared_ptr<Shader> program = std::make_shared<Shader>(); program->AddShaderFromFile(pangolin::GlSlVertexShader, Parse::get().shaderDir() + "/" + vertex_shader_file, {}, {Parse::get().shaderDir()}); program->AddShaderFromFile(pangolin::GlSlGeometryShader, Parse::get().shaderDir() + "/" + geometry_shader_file, {}, {Parse::get().shaderDir()}); program->Link(); return program; } static inline std::shared_ptr<Shader> loadProgramFromFile(const std::string& vertex_shader_file) { std::shared_ptr<Shader> program = std::make_shared<Shader>(); program->AddShaderFromFile(pangolin::GlSlVertexShader, Parse::get().shaderDir() + "/" + vertex_shader_file, {}, {Parse::get().shaderDir()}); program->Link(); return program; } static inline std::shared_ptr<Shader> loadProgramFromFile(const std::string& vertex_shader_file, const std::string& fragment_shader_file) { std::shared_ptr<Shader> program = std::make_shared<Shader>(); program->AddShaderFromFile(pangolin::GlSlVertexShader, Parse::get().shaderDir() + "/" + vertex_shader_file, {}, {Parse::get().shaderDir()}); program->AddShaderFromFile(pangolin::GlSlFragmentShader, Parse::get().shaderDir() + "/" + fragment_shader_file, {}, {Parse::get().shaderDir()}); program->Link(); return program; } static inline std::shared_ptr<Shader> loadProgramFromFile(const std::string& vertex_shader_file, const std::string& fragment_shader_file, const std::string& geometry_shader_file) { std::shared_ptr<Shader> program = std::make_shared<Shader>(); program->AddShaderFromFile(pangolin::GlSlVertexShader, Parse::get().shaderDir() + "/" + vertex_shader_file, {}, {Parse::get().shaderDir()}); program->AddShaderFromFile(pangolin::GlSlGeometryShader, Parse::get().shaderDir() + "/" + geometry_shader_file, {}, {Parse::get().shaderDir()}); program->AddShaderFromFile(pangolin::GlSlFragmentShader, Parse::get().shaderDir() + "/" + fragment_shader_file, {}, {Parse::get().shaderDir()}); program->Link(); return program; } #endif /* SHADERS_SHADERS_H_ */

保存，编译。

5. ElasticFusion GUI Debug x64版

修改CMakeLists.txt文件，添加几个路径变量，如下所示：

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}") set(JPEG_LIBRARY "D:/ElasticFusionDebug/Pangolin/build/external/libjpeg/lib/jpeg.lib") set(JPEG_INCLUDE_DIR "D:/ElasticFusionDebug/Pangolin/build/external/libjpeg/include") set(ZLIB_LIBRARY "D:/ElasticFusionDebug/Pangolin/build/external/zlib/lib/zlibd.lib") set(ZLIB_INCLUDE_DIR "D:/ElasticFusionDebug/Pangolin/build/external/zlib/include") set(OPENNI2_LIBRARY "D:/ElasticFusionDebug/OpenNI2/Bin/x64-Debug/OpenNI2.lib") set(SUITESPARSE_INCLUDE_DIR "D:/ElasticFusionDebug/SuiteSparse/build/install/include/suitesparse") set(SUITESPARSE_LIBRARY_DIR "D:/ElasticFusionDebug/SuiteSparse/build/install/lib64") set(EFUSION_LIBRARY "D:/ElasticFusionDebug/ElasticFusion/Core/src/build/Debug/efusion.lib") set(BLAS_LIBRARIES_DIR "D:/ElasticFusionDebug/SuiteSparse/build/install/lib64/lapack_blas_windows") set(LAPACK_LIBRARIES_DIR "D:/ElasticFusionDebug/SuiteSparse/build/install/lib64/lapack_blas_windows")

需要根据实际路径进行修改。 用CMake生成VS解决方案，编译。

6. 测试

将D:\ElasticFusionDebug\OpenNI2\Bin\x64-Debug下OpenNI2文件夹和OpenNI2.dll，将D:\ElasticFusionDebug\SuiteSparse\build\install\lib64\lapack_blas_windows下五个dll文件，将D:\ElasticFusionDebug\Pangolin\build\external\zlib\bin下zlibd.dll，将D:\ElasticFusionDebug\ElasticFusion\Core\src\build\Debug下efusion.dll，拷贝到D:\ElasticFusionDebug\ElasticFusion\GUI\src\build\Debug下。

打开命令行窗口，cd到D:\ElasticFusionDebug\ElasticFusion\GUI\src\build\Debug，插上Kinect一代，运行ElasticFusion.exe命令，即可。