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）

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

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

目录

  • windows系统下开发（win10）
    • python开发环境搭建
    • C++开发环境搭建
  • Linux系统下开发（ubuntu16.04）
    • python开发环境搭建
    • C++开发环境搭建

windows系统下开发（win10）

首先安装openni库openni下载链接，注意要在orbbec官网下载，否则OpenNI2Drivers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 cv2def 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 *= 255dpt = dpt1 + dpt2cv2.imshow('depth', dpt)ret,frame = cap.read()cv2.imshow('color', frame)key = cv2.waitKey(1)if int(key) == ord('q'):breakdepth_stream.stop()dev.close()

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 SDKopenni::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;
}

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);

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})

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:softwareopencv4.0.0opencvbuildinclude
D:softwareopencv4.0.0opencvbuildincludeopencv2

在VC++目录–>库目录中加入

D:softwareopencv4.0.0opencvbuildx64vc14lib

在链接器–>输入中加入

opencv_world400.lib

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

D:softwarePCL1.8.0includepcl-1.8
D:softwarePCL1.8.03rdPartyBoostincludeboost-1_61
D:softwarePCL1.8.03rdPartyEigeneigen3
D:softwarePCL1.8.03rdPartyFLANNinclude
D:softwarePCL1.8.03rdPartyQhullinclude
D:softwarePCL1.8.03rdPartyOpenNI2Include
D:softwarePCL1.8.03rdPartyVTKincludevtk-7.0
D:softwarePCL1.8.03rdPartyVTKbin

在VC++目录–>库目录中加入

D:softwarePCL1.8.0lib
D:softwarePCL1.8.03rdPartyVTKlib
D:softwarePCL1.8.03rdPartyBoostlib
D:softwarePCL1.8.03rdPartyFLANNlib
D:softwarePCL1.8.0 3rdPartyOpenNI2Lib
D:softwarePCL1.8.03rdPartyQhulllib

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

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

pcl库需要在.pro文件中加入

INCLUDEPATH += D:softwarePCL1.8.03rdPartyOpenNI2include
INCLUDEPATH += D:softwarePCL1.8.0includepcl-1.8pcl
INCLUDEPATH += D:softwarePCL1.8.0includepcl-1.8
INCLUDEPATH += D:softwarePCL1.8.03rdPartyBoostincludeboost-1_61
INCLUDEPATH += D:softwarePCL1.8.03rdPartyEigeneigen3
INCLUDEPATH += D:softwarePCL1.8.03rdPartyFLANNinclude
INCLUDEPATH += D:softwarePCL1.8.03rdPartyFLANNincludeflann
INCLUDEPATH += D:softwarePCL1.8.03rdPartyOpenNI2Include
INCLUDEPATH += D:softwarePCL1.8.03rdPartyQhullinclude
INCLUDEPATH += D:softwarePCL1.8.03rdPartyVTKincludevtk-7.0CONFIG(debug,debug|release){
LIBS += D:softwarePCL1.8.0libpcl_common_debug.libD:softwarePCL1.8.0libpcl_features_debug.libD:softwarePCL1.8.0libpcl_filters_debug.libD:softwarePCL1.8.0libpcl_io_debug.libD:softwarePCL1.8.0libpcl_io_ply_debug.libD:softwarePCL1.8.0libpcl_kdtree_debug.libD:softwarePCL1.8.0libpcl_keypoints_debug.libD:softwarePCL1.8.0libpcl_ml_debug.libD:softwarePCL1.8.0libpcl_octree_debug.libD:softwarePCL1.8.0libpcl_outofcore_debug.libD:softwarePCL1.8.0libpcl_people_debug.libD:softwarePCL1.8.0libpcl_recognition_debug.libD:softwarePCL1.8.0libpcl_registration_debug.libD:softwarePCL1.8.0libpcl_sample_consensus_debug.libD:softwarePCL1.8.0libpcl_search_debug.libD:softwarePCL1.8.0libpcl_segmentation_debug.libD:softwarePCL1.8.0libpcl_stereo_debug.libD:softwarePCL1.8.0libpcl_surface_debug.libD:softwarePCL1.8.0libpcl_tracking_debug.libD:softwarePCL1.8.0libpcl_visualization_debug.lib
LIBS+=  D:softwarePCL1.8.03rdPartyBoostliblibboost_atomic-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_chrono-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_container-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_context-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_coroutine-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_date_time-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_exception-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_filesystem-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_graph-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_iostreams-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_locale-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_log_setup-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_log-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_math_c99f-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_math_c99l-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_math_c99-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_math_tr1f-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_math_tr1l-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_math_tr1-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_mpi-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_prg_exec_monitor-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_program_options-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_random-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_regex-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_serialization-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_signals-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_system-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_test_exec_monitor-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_thread-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_timer-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_type_erasure-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_unit_test_framework-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_wave-vc140-mt-gd-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_wserialization-vc140-mt-gd-1_61.lib
LIBS+=  D:softwarePCL1.8.03rdPartyFLANNlibflann_cpp_s-gd.libD:softwarePCL1.8.03rdPartyFLANNlibflann_s-gd.libD:softwarePCL1.8.03rdPartyFLANNlibflann-gd.lib
LIBS+=  D:softwarePCL1.8.03rdPartyQhulllibqhullstatic_d.libD:softwarePCL1.8.03rdPartyQhulllibqhull_d.libD:softwarePCL1.8.03rdPartyQhulllibqhull_p_d.libD:softwarePCL1.8.03rdPartyQhulllibqhullcpp_d.libD:softwarePCL1.8.03rdPartyQhulllibqhullstatic_r_d.lib
LIBS+=  D:softwarePCL1.8.03rdPartyVTKlibvtkalglib-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkChartsCore-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonColor-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonComputationalGeometry-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonCore-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonDataModel-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonExecutionModel-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonMath-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonMisc-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonSystem-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonTransforms-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkDICOMParser-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkDomainsChemistry-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkexoIIc-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkexpat-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersAMR-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersCore-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersExtraction-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersFlowPaths-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersGeneral-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersGeneric-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersGeometry-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersHybrid-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersHyperTree-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersImaging-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersModeling-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersParallel-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersParallelImaging-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersProgrammable-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersSelection-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersSMP-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersSources-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersStatistics-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersTexture-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersVerdict-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkfreetype-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkGeovisCore-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkgl2ps-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkhdf5-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkhdf5_hl-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingColor-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingCore-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingFourier-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingGeneral-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingHybrid-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingMath-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingMorphological-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingSources-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingStatistics-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingStencil-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkInfovisCore-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkInfovisLayout-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkInteractionImage-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkInteractionStyle-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkInteractionWidgets-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOAMR-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOCore-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOEnSight-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOExodus-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOExport-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOGeometry-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOImage-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOImport-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOInfovis-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOLegacy-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOLSDyna-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOMINC-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOMovie-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIONetCDF-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOParallel-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOParallelXML-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOPLY-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOSQL-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOVideo-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOXML-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOXMLParser-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkjpeg-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkjsoncpp-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtklibxml2-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkmetaio-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkNetCDF-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkNetCDF_cxx-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkoggtheora-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkParallelCore-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkpng-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkproj4-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingAnnotation-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingContext2D-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingContextOpenGL-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingCore-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingFreeType-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingGL2PS-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingImage-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingLabel-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingLIC-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingLOD-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingOpenGL-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingVolume-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingVolumeOpenGL-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtksqlite-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtksys-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtktiff-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkverdict-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkViewsContext2D-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkViewsCore-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkViewsInfovis-7.0-gd.libD:softwarePCL1.8.03rdPartyVTKlibvtkzlib-7.0-gd.lib
LIBS+=  D:softwarePCL1.8.03rdPartyOpenNI2LibOpenNI2.lib
}
else {
LIBS += D:softwarePCL1.8.0libpcl_common_release.libD:softwarePCL1.8.0libpcl_features_release.libD:softwarePCL1.8.0libpcl_filters_release.libD:softwarePCL1.8.0libpcl_io_release.libD:softwarePCL1.8.0libpcl_io_ply_release.libD:softwarePCL1.8.0libpcl_kdtree_release.libD:softwarePCL1.8.0libpcl_keypoints_release.libD:softwarePCL1.8.0libpcl_ml_release.libD:softwarePCL1.8.0libpcl_octree_release.libD:softwarePCL1.8.0libpcl_outofcore_release.libD:softwarePCL1.8.0libpcl_people_release.libD:softwarePCL1.8.0libpcl_recognition_release.libD:softwarePCL1.8.0libpcl_registration_release.libD:softwarePCL1.8.0libpcl_sample_consensus_release.libD:softwarePCL1.8.0libpcl_search_release.libD:softwarePCL1.8.0libpcl_segmentation_release.libD:softwarePCL1.8.0libpcl_stereo_release.libD:softwarePCL1.8.0libpcl_surface_release.libD:softwarePCL1.8.0libpcl_tracking_release.libD:softwarePCL1.8.0libpcl_visualization_release.lib
LIBS+=  D:softwarePCL1.8.03rdPartyBoostliblibboost_atomic-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_chrono-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_container-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_context-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_coroutine-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_date_time-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_exception-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_filesystem-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_graph-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_iostreams-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_locale-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_log_setup-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_log-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_math_c99f-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_math_c99l-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_math_c99-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_math_tr1f-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_math_tr1l-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_math_tr1-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_mpi-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_prg_exec_monitor-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_program_options-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_random-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_regex-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_serialization-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_signals-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_system-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_test_exec_monitor-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_thread-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_timer-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_type_erasure-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_unit_test_framework-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_wave-vc140-mt-1_61.libD:softwarePCL1.8.03rdPartyBoostliblibboost_wserialization-vc140-mt-1_61.lib
LIBS+=  D:softwarePCL1.8.03rdPartyFLANNlibflann_cpp_s.libD:softwarePCL1.8.03rdPartyFLANNlibflann_s.libD:softwarePCL1.8.03rdPartyFLANNlibflann.lib
LIBS+=  D:softwarePCL1.8.03rdPartyQhulllibqhullstatic.libD:softwarePCL1.8.03rdPartyQhulllibqhull.libD:softwarePCL1.8.03rdPartyQhulllibqhull_p.libD:softwarePCL1.8.03rdPartyQhulllibqhullcpp.libD:softwarePCL1.8.03rdPartyQhulllibqhullstatic_r_d.lib
LIBS+=  D:softwarePCL1.8.03rdPartyVTKlibvtkalglib-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkChartsCore-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonColor-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonComputationalGeometry-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonCore-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonDataModel-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonExecutionModel-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonMath-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonMisc-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonSystem-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkCommonTransforms-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkDICOMParser-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkDomainsChemistry-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkexoIIc-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkexpat-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersAMR-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersCore-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersExtraction-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersFlowPaths-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersGeneral-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersGeneric-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersGeometry-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersHybrid-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersHyperTree-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersImaging-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersModeling-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersParallel-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersParallelImaging-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersProgrammable-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersSelection-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersSMP-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersSources-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersStatistics-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersTexture-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkFiltersVerdict-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkfreetype-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkGeovisCore-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkgl2ps-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkhdf5-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkhdf5_hl-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingColor-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingCore-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingFourier-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingGeneral-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingHybrid-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingMath-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingMorphological-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingSources-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingStatistics-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkImagingStencil-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkInfovisCore-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkInfovisLayout-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkInteractionImage-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkInteractionStyle-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkInteractionWidgets-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOAMR-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOCore-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOEnSight-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOExodus-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOExport-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOGeometry-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOImage-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOImport-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOInfovis-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOLegacy-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOLSDyna-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOMINC-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOMovie-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIONetCDF-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOParallel-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOParallelXML-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOPLY-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOSQL-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOVideo-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOXML-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkIOXMLParser-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkjpeg-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkjsoncpp-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtklibxml2-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkmetaio-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkNetCDF-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkNetCDF_cxx-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkoggtheora-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkParallelCore-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkpng-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkproj4-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingAnnotation-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingContext2D-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingContextOpenGL-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingCore-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingFreeType-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingGL2PS-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingImage-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingLabel-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingLIC-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingLOD-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingOpenGL-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingVolume-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkRenderingVolumeOpenGL-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtksqlite-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtksys-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtktiff-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkverdict-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkViewsContext2D-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkViewsCore-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkViewsInfovis-7.0.libD:softwarePCL1.8.03rdPartyVTKlibvtkzlib-7.0.lib
LIBS+=  D:softwarePCL1.8.03rdPartyOpenNI2LibOpenNI2.lib
}

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

或者打开终端并输入：

$ sudo gedit ~/.bashrc

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

来永久设置用户环境变量。
再在终端输入

$ source ~/.bashrc

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

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。
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

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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