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乐视三合一体感摄像头Astra pro开发记录1（深度图、彩色图及点云简单显示）_letmc-520

作者：小蓝xlanll | 2024-03-21 10:00:23

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letmc-520

在某鱼上淘的乐视三合一体感摄像头，捡漏价九十几块，买来玩玩。
网上已经有一些关于此款摄像头的开发资料。
官方的开发资料：[官网链接]（https://orbbec3d.com/index/download.html)

按官方网站以及其他帖子，下载并安装相机的驱动和SDK，不难配置好相机。
~~据说目前最新的opencv4.5.1提供了Astra相机的api接口，然而我并没有尝试成功，先就这样吧。。~~
下面这篇文章使用opencv4.5.1配置成功，本人按此方法尝试过确实可行。
全网最详细 Opencv + OpenNi + 奥比中光(Orbbec) Astra Pro /乐视三合一体感摄像头LeTMC-520 + linux 环境搭建

windows系统下开发（win10）

首先安装相机驱动和openni库openni下载链接，注意要在orbbec官网下载，否则OpenNI2\Drivers文件夹下可能不含orbbec.dll和orbbec.ini两个文件，导致找不到相机设备。

python开发环境搭建

安装python的openni包：在终端输入pip3 install openni即可。此外还需安装有opencv-python和numpy。

打开深度摄像头和彩色摄像头

from openni import openni2
import numpy as np
import cv2


def mousecallback(event,x,y,flags,param):
     if event==cv2.EVENT_LBUTTONDBLCLK:
         print(y, x, dpt[y,x])


if __name__ == "__main__": 

    openni2.initialize()

    dev = openni2.Device.open_any()
    print(dev.get_device_info())

    depth_stream = dev.create_depth_stream()
    depth_stream.start()

    cap = cv2.VideoCapture(0)
    cv2.namedWindow('depth')
    cv2.setMouseCallback('depth',mousecallback)

    while True:

        frame = depth_stream.read_frame()
        dframe_data = np.array(frame.get_buffer_as_triplet()).reshape([480, 640, 2])
        dpt1 = np.asarray(dframe_data[:, :, 0], dtype='float32')
        dpt2 = np.asarray(dframe_data[:, :, 1], dtype='float32')
        
        dpt2 *= 255
        dpt = dpt1 + dpt2
        
        cv2.imshow('depth', dpt)

        ret,frame = cap.read()
        cv2.imshow('color', frame)

        key = cv2.waitKey(1)
        if int(key) == ord('q'):
            break

    depth_stream.stop()
    dev.close()
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这个程序是在网上其他帖子找的，不知道为什么深度图的显示好像是二值图。本人对python不是很熟悉，改了一会也没改出来。
如果报错：Exception has occurred: OpenNIError (OniStatus.ONI_STATUS_ERROR, b’DeviceOpen using default: no devices found’, None)…，说明openni环境没有配置好。
在系统变量新建三个变量，变量名分别为OPENNI2_INCLUDE64、OPENNI2_LIB64和OPENNI2_REDIST64，变量值把对应的Include、Lib和Redist文件夹加入。

在这里插入图片描述

如果程序仍然报错，可以将Redist下的OpenNI2文件夹、OpenNI.ini、OpenNI2.dll以及Lib下的OpenNI2.lib复制到和python程序同一文件夹下再运行程序试试。

C++开发环境搭建

需要安装有依赖库opencv和pcl，其中pcl库中的第三方库3rdParty内包含openni库。
配置如下：
cmake3.15.3
opencv4.0.0
pcl1.8.0
openni2.3.0
vs2015 professional
Qt5.9.1

环境变量如下图：
在这里插入图片描述
下面是C++的程序：

/********************************************************************************
** @ Copyright(c) $year$ $registered organization$ All Rights Reserved.
** @auth： taify
** @date： 2021/2/16
** @desc： ***
** @Ver : V1.0.0
*********************************************************************************/
#define _CRT_SECURE_NO_WARNINGS

#include <iostream>
#include <opencv2/opencv.hpp>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>
#include <OpenNI.h>

typedef pcl::PointXYZRGB PointT;
typedef pcl::PointCloud<PointT> PointCloud;

// 相机内参
const double camera_factor = 1000;
const double camera_cx = 311.0;
const double camera_cy = 244.0;
const double camera_fx = 593.0;
const double camera_fy = 588.0;

int main(int argc, char* argv[])
{
	//初始化OpenNI SDK
	openni::OpenNI::initialize();

	//打开设备
	openni::Device device;
	device.open(openni::ANY_DEVICE);
	std::cout << device.getDeviceInfo().getUri() << std::endl;

	//创建深度流
	openni::VideoStream depthStream;
	depthStream.create(device, openni::SENSOR_DEPTH);

	//配置深度流的模式
	openni::VideoMode depthMode;
	depthMode.setResolution(640, 480);
	depthMode.setPixelFormat(openni::PIXEL_FORMAT_DEPTH_1_MM);
	depthMode.setFps(30);
	depthStream.setVideoMode(depthMode);

	//打开深度摄像头
	depthStream.start();
	openni::VideoFrameRef depth_frame;
	int iMaxDepth = depthStream.getMaxPixelValue();

	//打开彩色摄像头
	cv::VideoCapture capture;
	capture.open(0);

	cv::Mat depthMat, rgbMat;

	PointCloud::Ptr cloud(new PointCloud);  // 使用智能指针创建一个空点云。
	pcl::visualization::CloudViewer viewer("Cloud Viewer");

	//循环采图
	while (true)
	{
		openni::VideoStream* pstream = &depthStream;

		int changedStreamDummy;

		openni::Status rc = openni::OpenNI::waitForAnyStream(&pstream, 1, &changedStreamDummy, 100); //等待一帧

		if (rc != openni::STATUS_OK)
			continue;

		//获取深度帧数据
		rc = depthStream.readFrame(&depth_frame);
		if (rc == openni::STATUS_OK)
		{
			auto depth = depth_frame.getData();
			auto depthWidth = depth_frame.getWidth();
			auto depthHeight = depth_frame.getHeight();

			//处理并渲染深度帧数据
			cv::Mat rawMat(depthHeight, depthWidth, CV_16UC1, (void*)depth);
			rawMat.convertTo(depthMat, CV_8UC1, 255.0 / iMaxDepth); 
			cv::imshow("Depth Viewer", depthMat); //显示深度图
		}

		capture >> rgbMat;
		cv::flip(rgbMat, rgbMat, 1);
		cv::imshow("rgb Viewer", rgbMat); //显示彩色图
		cv::waitKey(100); //不加waitkey会卡住

		cloud->clear();
		// 遍历深度图
		for (int i = 0; i < depthMat.rows; ++i)
		{
			for (int j = 0; j < depthMat.cols; ++j)
			{
				// 获取深度图中(m,n)处的值
				uchar d = depthMat.ptr<uchar>(i)[j];
				// d 可能没有值，若如此，跳过此点
				if (d == 0)
					continue;
				// d 存在值，则向点云增加一个点
				PointT p;

				// 计算这个点的空间坐标
				p.z = double(d) / camera_factor;
				p.x = (j - camera_cx) * p.z / camera_fx;
				p.y = -(i - camera_cy) * p.z / camera_fy;

				// 从rgb图像中获取它的颜色
				p.b = rgbMat.at<cv::Vec3b>(i, j)[0];
				p.g = rgbMat.at<cv::Vec3b>(i, j)[1];
				p.r = rgbMat.at<cv::Vec3b>(i, j)[2];

				// 把p加入到点云中
				cloud->points.push_back(p);
			}
		}
			
		viewer.showCloud(cloud); //显示点云
		
		//viewer窗口关闭则退出循环
		if (viewer.wasStopped())
			break;
	}

	//释放资源
	depthStream.stop();
	depthStream.destroy();
	device.close();
	openni::OpenNI::shutdown();
	capture.release();

	return 0;
}
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这段C++程序的功能和上面的python程序都实现了摄像头的深度图和彩色图显示，另外增加了点云的显示功能（只是简单的深度图与彩色图的对应计算，没有做depth和rgb的对齐，懒得标定。。相机内参也是在网上搜随便填的）。
其中

rawMat.convertTo(depthMat, CV_8UC1, 255.0 / iMaxDepth); 
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加上第三个参数可以显示深度图为灰度图，不加的话则默认为二值图。

附上CMakeLists.txt：

cmake_minimum_required(VERSION 2.8)
project(Astra)
add_definitions(-std=c++11)

# 添加opencv库
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS} ${OpenCV2_INCLUDE_DIRS})
link_directories(${OpenCV_LIBRARY_DIRS})

# 添加pcl库
find_package(PCL  REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
#add_definitions(${PCL_DEFINITIONS})

# 查找目录下的所有源文件 并将名称保存到 DIR_SRCS 变量
aux_source_directory(. DIR_SRCS)

# 指定生成目标
add_executable(Astra ${DIR_SRCS})
target_link_libraries (Astra ${OpenCV_LIBRARIES} ${PCL_LIBRARIES})
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如果不用cmake，用vs配置属性表的话，可以建立两个.prop文件分别保存opencv和pcl库的配置。
opencv属性表配置（Release x64）：
在VC++目录–>包含目录中加入

D:\software\opencv4.0.0\opencv\build\include
D:\software\opencv4.0.0\opencv\build\include\opencv2
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2

D:\software\opencv4.0.0\opencv\build\x64\vc14\lib
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在链接器–>输入中加入

opencv_world400.lib
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pcl属性表配置（Release x64）：
在VC++目录–>包含目录中加入

D:\software\PCL1.8.0\include\pcl-1.8
D:\software\PCL1.8.0\3rdParty\Boost\include\boost-1_61
D:\software\PCL1.8.0\3rdParty\Eigen\eigen3
D:\software\PCL1.8.0\3rdParty\FLANN\include
D:\software\PCL1.8.0\3rdParty\Qhull\include
D:\software\PCL1.8.0\3rdParty\OpenNI2\Include
D:\software\PCL1.8.0\3rdParty\VTK\include\vtk-7.0
D:\software\PCL1.8.0\3rdParty\VTK\bin
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D:\software\PCL1.8.0\lib
D:\software\PCL1.8.0\3rdParty\VTK\lib
D:\software\PCL1.8.0\3rdParty\Boost\lib
D:\software\PCL1.8.0\3rdParty\FLANN\lib
D:\software\PCL1.8.0 \3rdParty\OpenNI2\Lib
D:\software\PCL1.8.0\3rdParty\Qhull\lib
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在链接器–>输入中加入

pcl_common_release.lib
pcl_features_release.lib
pcl_filters_release.lib
pcl_io_ply_release.lib
pcl_io_release.lib
pcl_kdtree_release.lib
pcl_keypoints_release.lib
pcl_ml_release.lib
pcl_octree_release.lib
pcl_outofcore_release.lib
pcl_people_release.lib
pcl_recognition_release.lib
pcl_registration_release.lib
pcl_sample_consensus_release.lib
pcl_search_release.lib
pcl_segmentation_release.lib
pcl_stereo_release.lib
pcl_surface_release.lib
pcl_tracking_release.lib
pcl_visualization_release.lib
libboost_atomic-vc140-mt-1_61.lib
libboost_chrono-vc140-mt-1_61.lib
libboost_container-vc140-mt-1_61.lib
libboost_context-vc140-mt-1_61.lib
libboost_coroutine-vc140-mt-1_61.lib
libboost_date_time-vc140-mt-1_61.lib
libboost_exception-vc140-mt-1_61.lib
libboost_filesystem-vc140-mt-1_61.lib
libboost_graph-vc140-mt-1_61.lib
libboost_iostreams-vc140-mt-1_61.lib
libboost_locale-vc140-mt-1_61.lib
libboost_log-vc140-mt-1_61.lib
libboost_log_setup-vc140-mt-1_61.lib
libboost_math_c99-vc140-mt-1_61.lib
libboost_math_c99f-vc140-mt-1_61.lib
libboost_math_c99l-vc140-mt-1_61.lib
libboost_math_tr1-vc140-mt-1_61.lib
libboost_math_tr1f-vc140-mt-1_61.lib
libboost_math_tr1l-vc140-mt-1_61.lib
libboost_mpi-vc140-mt-1_61.lib
libboost_prg_exec_monitor-vc140-mt-1_61.lib
libboost_program_options-vc140-mt-1_61.lib
libboost_random-vc140-mt-1_61.lib
libboost_regex-vc140-mt-1_61.lib
libboost_serialization-vc140-mt-1_61.lib
libboost_signals-vc140-mt-1_61.lib
libboost_system-vc140-mt-1_61.lib
libboost_test_exec_monitor-vc140-mt-1_61.lib
libboost_thread-vc140-mt-1_61.lib
libboost_timer-vc140-mt-1_61.lib
libboost_unit_test_framework-vc140-mt-1_61.lib
libboost_wave-vc140-mt-1_61.lib
libboost_wserialization-vc140-mt-1_61.lib
OpenNI2.lib
flann.lib
flann_s.lib
flann-gd.lib
flann_cpp_s.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
qhull.lib
qhull_d.lib
qhullcpp_d.lib
qhullstatic.lib
qhullstatic_d.lib
qhullstatic_r.lib
qhullstatic_r_d.lib
qhull_p.lib
qhull_p_d.lib
qhull_r.lib
qhull_r_d.lib
vtkalglib-7.0.lib
vtkChartsCore-7.0.lib
vtkCommonColor-7.0.lib
vtkCommonComputationalGeometry-7.0.lib
vtkCommonCore-7.0.lib
vtkCommonDataModel-7.0.lib
vtkCommonExecutionModel-7.0.lib
vtkCommonMath-7.0.lib
vtkCommonMisc-7.0.lib
vtkCommonSystem-7.0.lib
vtkCommonTransforms-7.0.lib
vtkDICOMParser-7.0.lib
vtkDomainsChemistry-7.0.lib
vtkexoIIc-7.0.lib
vtkexpat-7.0.lib
vtkFiltersAMR-7.0.lib
vtkFiltersCore-7.0.lib
vtkFiltersExtraction-7.0.lib
vtkFiltersFlowPaths-7.0.lib
vtkFiltersGeneral-7.0.lib
vtkFiltersGeneric-7.0.lib
vtkFiltersGeometry-7.0.lib
vtkFiltersHybrid-7.0.lib
vtkFiltersHyperTree-7.0.lib
vtkFiltersImaging-7.0.lib
vtkFiltersModeling-7.0.lib
vtkFiltersParallel-7.0.lib
vtkFiltersParallelImaging-7.0.lib
vtkFiltersProgrammable-7.0.lib
vtkFiltersSelection-7.0.lib
vtkFiltersSMP-7.0.lib
vtkFiltersSources-7.0.lib
vtkFiltersStatistics-7.0.lib
vtkFiltersTexture-7.0.lib
vtkFiltersVerdict-7.0.lib
vtkfreetype-7.0.lib
vtkGeovisCore-7.0.lib
vtkhdf5-7.0.lib
vtkhdf5_hl-7.0.lib
vtkImagingColor-7.0.lib
vtkImagingCore-7.0.lib
vtkImagingFourier-7.0.lib
vtkImagingGeneral-7.0.lib
vtkImagingHybrid-7.0.lib
vtkImagingMath-7.0.lib
vtkImagingMorphological-7.0.lib
vtkImagingSources-7.0.lib
vtkImagingStatistics-7.0.lib
vtkImagingStencil-7.0.lib
vtkInfovisCore-7.0.lib
vtkInfovisLayout-7.0.lib
vtkInteractionImage-7.0.lib
vtkInteractionStyle-7.0.lib
vtkInteractionWidgets-7.0.lib
vtkIOAMR-7.0.lib
vtkIOCore-7.0.lib
vtkIOEnSight-7.0.lib
vtkIOExodus-7.0.lib
vtkIOExport-7.0.lib
vtkIOGeometry-7.0.lib
vtkIOImage-7.0.lib
vtkIOImport-7.0.lib
vtkIOInfovis-7.0.lib
vtkIOLegacy-7.0.lib
vtkIOLSDyna-7.0.lib
vtkIOMINC-7.0.lib
vtkIOMovie-7.0.lib
vtkIONetCDF-7.0.lib
vtkIOParallel-7.0.lib
vtkIOParallelXML-7.0.lib
vtkIOPLY-7.0.lib
vtkIOSQL-7.0.lib
vtkIOVideo-7.0.lib
vtkIOXML-7.0.lib
vtkIOXMLParser-7.0.lib
vtkjpeg-7.0.lib
vtkjsoncpp-7.0.lib
vtklibxml2-7.0.lib
vtkmetaio-7.0.lib
vtkNetCDF-7.0.lib
vtkNetCDF_cxx-7.0.lib
vtkoggtheora-7.0.lib
vtkParallelCore-7.0.lib
vtkpng-7.0.lib
vtkproj4-7.0.lib
vtkRenderingAnnotation-7.0.lib
vtkRenderingContext2D-7.0.lib
vtkRenderingContextOpenGL-7.0.lib
vtkRenderingCore-7.0.lib
vtkRenderingFreeType-7.0.lib
vtkRenderingImage-7.0.lib
vtkRenderingLabel-7.0.lib
vtkRenderingLOD-7.0.lib
vtkRenderingOpenGL-7.0.lib
vtkRenderingVolume-7.0.lib
vtkRenderingVolumeOpenGL-7.0.lib
vtksqlite-7.0.lib
vtksys-7.0.lib
vtktiff-7.0.lib
vtkverdict-7.0.lib
vtkViewsContext2D-7.0.lib
vtkViewsCore-7.0.lib
vtkViewsInfovis-7.0.lib
vtkzlib-7.0.lib
opengl32.lib
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把路径改成自己的对应安装路径即可。

若采用qt的.pro文件配置：
opencv库需要在.pro文件中加入

LIBS += D:/software/opencv4.0.0/opencv/build/x64/vc14/lib/*.lib/
INCLUDEPATH += D:/software/opencv4.0.0/opencv/build/include
DEPENDPATH += D:/software/opencv4.0.0/opencv/build/include
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pcl库需要在.pro文件中加入

INCLUDEPATH += D:\software\PCL1.8.0\3rdParty\OpenNI2\include\
INCLUDEPATH += D:\software\PCL1.8.0\include\pcl-1.8\pcl
INCLUDEPATH += D:\software\PCL1.8.0\include\pcl-1.8\
INCLUDEPATH += D:\software\PCL1.8.0\3rdParty\Boost\include\boost-1_61\
INCLUDEPATH += D:\software\PCL1.8.0\3rdParty\Eigen\eigen3\
INCLUDEPATH += D:\software\PCL1.8.0\3rdParty\FLANN\include\
INCLUDEPATH += D:\software\PCL1.8.0\3rdParty\FLANN\include\flann\
INCLUDEPATH += D:\software\PCL1.8.0\3rdParty\OpenNI2\Include\
INCLUDEPATH += D:\software\PCL1.8.0\3rdParty\Qhull\include\
INCLUDEPATH += D:\software\PCL1.8.0\3rdParty\VTK\include\vtk-7.0

CONFIG(debug,debug|release){
LIBS += D:\software\PCL1.8.0\lib\pcl_common_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_features_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_filters_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_io_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_io_ply_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_kdtree_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_keypoints_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_ml_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_octree_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_outofcore_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_people_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_recognition_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_registration_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_sample_consensus_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_search_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_segmentation_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_stereo_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_surface_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_tracking_debug.lib\
        D:\software\PCL1.8.0\lib\pcl_visualization_debug.lib
LIBS+=  D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_atomic-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_chrono-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_container-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_context-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_coroutine-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_date_time-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_exception-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_filesystem-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_graph-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_iostreams-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_locale-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_log_setup-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_log-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_math_c99f-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_math_c99l-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_math_c99-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_math_tr1f-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_math_tr1l-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_math_tr1-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_mpi-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_prg_exec_monitor-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_program_options-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_random-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_regex-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_serialization-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_signals-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_system-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_test_exec_monitor-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_thread-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_timer-vc140-mt-gd-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_type_erasure-vc140-mt-gd-1_61.lib
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_unit_test_framework-vc140-mt-gd-1_61.lib
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_wave-vc140-mt-gd-1_61.lib
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_wserialization-vc140-mt-gd-1_61.lib
LIBS+=  D:\software\PCL1.8.0\3rdParty\FLANN\lib\flann_cpp_s-gd.lib\
        D:\software\PCL1.8.0\3rdParty\FLANN\lib\flann_s-gd.lib\
        D:\software\PCL1.8.0\3rdParty\FLANN\lib\flann-gd.lib
LIBS+=  D:\software\PCL1.8.0\3rdParty\Qhull\lib\qhullstatic_d.lib\
        D:\software\PCL1.8.0\3rdParty\Qhull\lib\qhull_d.lib\
        D:\software\PCL1.8.0\3rdParty\Qhull\lib\qhull_p_d.lib\
        D:\software\PCL1.8.0\3rdParty\Qhull\lib\qhullcpp_d.lib\
        D:\software\PCL1.8.0\3rdParty\Qhull\lib\qhullstatic_r_d.lib
LIBS+=  D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkalglib-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkChartsCore-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonColor-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonComputationalGeometry-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonCore-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonDataModel-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonExecutionModel-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonMath-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonMisc-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonSystem-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonTransforms-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkDICOMParser-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkDomainsChemistry-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkexoIIc-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkexpat-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersAMR-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersCore-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersExtraction-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersFlowPaths-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersGeneral-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersGeneric-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersGeometry-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersHybrid-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersHyperTree-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersImaging-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersModeling-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersParallel-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersParallelImaging-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersProgrammable-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersSelection-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersSMP-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersSources-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersStatistics-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersTexture-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersVerdict-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkfreetype-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkGeovisCore-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkgl2ps-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkhdf5-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkhdf5_hl-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingColor-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingCore-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingFourier-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingGeneral-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingHybrid-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingMath-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingMorphological-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingSources-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingStatistics-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingStencil-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkInfovisCore-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkInfovisLayout-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkInteractionImage-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkInteractionStyle-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkInteractionWidgets-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOAMR-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOCore-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOEnSight-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOExodus-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOExport-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOGeometry-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOImage-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOImport-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOInfovis-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOLegacy-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOLSDyna-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOMINC-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOMovie-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIONetCDF-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOParallel-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOParallelXML-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOPLY-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOSQL-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOVideo-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOXML-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOXMLParser-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkjpeg-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkjsoncpp-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtklibxml2-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkmetaio-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkNetCDF-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkNetCDF_cxx-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkoggtheora-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkParallelCore-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkpng-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkproj4-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingAnnotation-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingContext2D-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingContextOpenGL-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingCore-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingFreeType-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingGL2PS-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingImage-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingLabel-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingLIC-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingLOD-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingOpenGL-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingVolume-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingVolumeOpenGL-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtksqlite-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtksys-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtktiff-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkverdict-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkViewsContext2D-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkViewsCore-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkViewsInfovis-7.0-gd.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkzlib-7.0-gd.lib
LIBS+=  D:\software\PCL1.8.0\3rdParty\OpenNI2\Lib\OpenNI2.lib
}
else {
LIBS += D:\software\PCL1.8.0\lib\pcl_common_release.lib\
        D:\software\PCL1.8.0\lib\pcl_features_release.lib\
        D:\software\PCL1.8.0\lib\pcl_filters_release.lib\
        D:\software\PCL1.8.0\lib\pcl_io_release.lib\
        D:\software\PCL1.8.0\lib\pcl_io_ply_release.lib\
        D:\software\PCL1.8.0\lib\pcl_kdtree_release.lib\
        D:\software\PCL1.8.0\lib\pcl_keypoints_release.lib\
        D:\software\PCL1.8.0\lib\pcl_ml_release.lib\
        D:\software\PCL1.8.0\lib\pcl_octree_release.lib\
        D:\software\PCL1.8.0\lib\pcl_outofcore_release.lib\
        D:\software\PCL1.8.0\lib\pcl_people_release.lib\
        D:\software\PCL1.8.0\lib\pcl_recognition_release.lib\
        D:\software\PCL1.8.0\lib\pcl_registration_release.lib\
        D:\software\PCL1.8.0\lib\pcl_sample_consensus_release.lib\
        D:\software\PCL1.8.0\lib\pcl_search_release.lib\
        D:\software\PCL1.8.0\lib\pcl_segmentation_release.lib\
        D:\software\PCL1.8.0\lib\pcl_stereo_release.lib\
        D:\software\PCL1.8.0\lib\pcl_surface_release.lib\
        D:\software\PCL1.8.0\lib\pcl_tracking_release.lib\
        D:\software\PCL1.8.0\lib\pcl_visualization_release.lib
LIBS+=  D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_atomic-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_chrono-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_container-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_context-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_coroutine-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_date_time-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_exception-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_filesystem-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_graph-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_iostreams-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_locale-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_log_setup-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_log-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_math_c99f-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_math_c99l-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_math_c99-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_math_tr1f-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_math_tr1l-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_math_tr1-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_mpi-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_prg_exec_monitor-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_program_options-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_random-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_regex-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_serialization-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_signals-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_system-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_test_exec_monitor-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_thread-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_timer-vc140-mt-1_61.lib\
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_type_erasure-vc140-mt-1_61.lib
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_unit_test_framework-vc140-mt-1_61.lib
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_wave-vc140-mt-1_61.lib
        D:\software\PCL1.8.0\3rdParty\Boost\lib\libboost_wserialization-vc140-mt-1_61.lib
LIBS+=  D:\software\PCL1.8.0\3rdParty\FLANN\lib\flann_cpp_s.lib\
        D:\software\PCL1.8.0\3rdParty\FLANN\lib\flann_s.lib\
        D:\software\PCL1.8.0\3rdParty\FLANN\lib\flann.lib
LIBS+=  D:\software\PCL1.8.0\3rdParty\Qhull\lib\qhullstatic.lib\
        D:\software\PCL1.8.0\3rdParty\Qhull\lib\qhull.lib\
        D:\software\PCL1.8.0\3rdParty\Qhull\lib\qhull_p.lib\
        D:\software\PCL1.8.0\3rdParty\Qhull\lib\qhullcpp.lib\
        D:\software\PCL1.8.0\3rdParty\Qhull\lib\qhullstatic_r_d.lib
LIBS+=  D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkalglib-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkChartsCore-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonColor-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonComputationalGeometry-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonCore-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonDataModel-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonExecutionModel-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonMath-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonMisc-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonSystem-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkCommonTransforms-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkDICOMParser-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkDomainsChemistry-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkexoIIc-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkexpat-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersAMR-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersCore-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersExtraction-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersFlowPaths-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersGeneral-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersGeneric-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersGeometry-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersHybrid-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersHyperTree-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersImaging-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersModeling-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersParallel-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersParallelImaging-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersProgrammable-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersSelection-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersSMP-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersSources-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersStatistics-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersTexture-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkFiltersVerdict-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkfreetype-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkGeovisCore-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkgl2ps-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkhdf5-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkhdf5_hl-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingColor-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingCore-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingFourier-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingGeneral-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingHybrid-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingMath-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingMorphological-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingSources-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingStatistics-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkImagingStencil-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkInfovisCore-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkInfovisLayout-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkInteractionImage-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkInteractionStyle-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkInteractionWidgets-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOAMR-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOCore-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOEnSight-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOExodus-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOExport-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOGeometry-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOImage-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOImport-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOInfovis-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOLegacy-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOLSDyna-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOMINC-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOMovie-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIONetCDF-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOParallel-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOParallelXML-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOPLY-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOSQL-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOVideo-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOXML-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkIOXMLParser-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkjpeg-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkjsoncpp-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtklibxml2-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkmetaio-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkNetCDF-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkNetCDF_cxx-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkoggtheora-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkParallelCore-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkpng-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkproj4-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingAnnotation-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingContext2D-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingContextOpenGL-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingCore-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingFreeType-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingGL2PS-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingImage-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingLabel-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingLIC-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingLOD-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingOpenGL-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingVolume-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkRenderingVolumeOpenGL-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtksqlite-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtksys-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtktiff-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkverdict-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkViewsContext2D-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkViewsCore-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkViewsInfovis-7.0.lib\
        D:\software\PCL1.8.0\3rdParty\VTK\lib\vtkzlib-7.0.lib
LIBS+=  D:\software\PCL1.8.0\3rdParty\OpenNI2\Lib\OpenNI2.lib
}
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Linux系统下开发（ubuntu16.04）

首先按照官网安装Linux的SDK，即AstraSDK和OpenNI-Linux-x64-2.3。

python开发环境搭建

测试程序同win下的python版本。
注意每次打开新终端都需要先在OpenNI-Linux-x64-2.3文件夹下source一下

$ source OpenNIDevEnvironment
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或者打开终端并输入：

$ sudo gedit ~/.bashrc
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在.bashrc文件末尾添加（需要改成自己的相应路径）

export OPENNI2_INCLUDE=/home/smart/OpenNI-Linux-x64-2.3/Include
export OPENNI2_REDIST=/home/smart/OpenNI-Linux-x64-2.3/Redist
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来永久设置用户环境变量。
再在终端输入

$ source ~/.bashrc
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或者重启使环境变量生效。

C++开发环境搭建

配置环境：opencv3.4.0 pcl1.7 openni2.3
其中pcl是通过

$ sudo apt-get install libpcl-dev
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直接安装的（但是好像只能装1.7的版本，之前编译高版本的两个多小时结果报错。。奔溃）。~~opencv还没发现简单安装方法，只能从源码编译。~~ opencv可以通过源码编译安装或者sudo apt install libopencv-dev 安装。

测试程序同win。若库安装和环境变量配置正确，在源码路径下直接

$ mkdir build
$ cd build
$ cmake ..
$ make
$ ./Astra
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不出意外的话则可以生成可执行文件，运行程序即可。

最后上一张效果图，相机放桌上随便拍的天花板。
在这里插入图片描述

后来我又自己用Qt撸了一个简单的界面：
乐视三合一体感摄像头Astra pro开发记录2（Qt界面）

参考：
python通过openni获取奥比中光Astra Pro的深度值和RGB图像
 关于奥比中光OpenNI SDK的环境配置问题

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