需要至少安装一个支持VS2022的CUDA Visual Studio Integration，推荐CUDA 11.6及以上版本 VS2022对应的CUDA lib至少需要10.0版本 CUDA_TOOLKIT_ROOT_DIR D:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v10.0 CMAKE_INSTALL_PREFIX E:/dev/pcl_1.12.1/install EIGEN_INCLUDE_DIR E:/dev/PCL 1.12.1_pre_build/3rdParty/Eigen/eigen3 FLANN_INCLUDE_DIR E:/dev/PCL 1.12.1_pre_build/3rdParty/FLANN/include FLANN_LIBRARY_STATIC E:/dev/PCL 1.12.1_pre_build/3rdParty/FLANN/lib/flann_cpp_s.lib BOOST_ROOT E:/dev/PCL 1.12.1_pre_build/3rdParty/Boost Boost_INCLUDE_DIR E:/dev/PCL 1.12.1_pre_build/3rdParty/Boost/include/boost-1_78 VTK_DIR E:/dev/PCL 1.12.1_pre_build/3rdParty/VTK/lib/cmake/vtk-9.1 WITH_QT Qt5 Qt5_DIR E:/dev/Qt5.14.2/5.14.2/msvc2017_64/lib/cmake/Qt5 BUILD_CUDA true BUILD_GPU true BUILD_visualization true BUILD_apps true WITH_OPENNI true OPENNI_INCLUDE_DIR C:/Program Files/OpenNI/Include OPENNI_LIBRARY C:/Program Files/OpenNI/Lib64/openNI64.lib OpenNI 1下载地址： https://code.google.com/archive/p/simple-openni/downloads OpenNI_NITE_Installer-win32-0.27.zip OpenNI_NITE_Installer-win64-0.27.zip 严重性 代码 说明 项目 文件 行 禁止显示状态 错误 C3052 “k”: 变量没有出现在 default(none)子句下的 data-sharing 子句中 pcl_common E:\dev\pcl_1.12.1\common\src\fft\kiss_fft.c 269 Edit common/src/fft/kiss_fft.c @@ -260,11 +260,13 @@ void kf_work( #if (defined _OPENMP && (_OPENMP <= 201307)) || (defined __GNUC__ && (__GNUC__ >= 6 && __GNUC__ < 9)) #pragma omp parallel for \ default(none) \ - shared(f, factors, Fout, in_stride) + shared(f, factors, Fout, in_stride) \ + private(k) #else #pragma omp parallel for \ default(none) \ - shared(f, factors, Fout, fstride, in_stride, m, p, st) + shared(f, factors, Fout, fstride, in_stride, m, p, st) \ + private(k) #endif 严重性 代码 说明 项目 文件 行 禁止显示状态 错误 C1189 error -- unsupported Microsoft Visual Studio version! Only the versions between 2015 and 2019 (inclusive) are supported! pcl_cuda_features D:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v10.0\include\crt\host_config.h 133 Edit CUDA\v10.0\include\crt\host_config.h -#if _MSC_VER < 1700 || _MSC_VER >= 1920 +#if _MSC_VER < 1700 //|| _MSC_VER >= 1920 严重性 代码 说明 项目 文件 行 禁止显示状态 错误 C1083 无法打开包括文件: “boost/mpl/assert.hpp”: No such file or directory pcl_cuda_features E:\dev\pcl_1.12.1\common\include\pcl\point_struct_traits.h 40 Add to VC include path: E:\dev\PCL 1.12.1_pre_build\3rdParty\Boost\include\boost-1_78 严重性 代码 说明 项目 文件 行 禁止显示状态 错误 C1189 #error: Xiron Platform Abstraction Layer - Win32 - Microsoft Visual Studio versions above 2010 (10.0) are not supported! (编译源文件 E:\dev\pcl_1.12.1\io\src\openni_camera\openni_device.cpp) pcl_io C:\Program Files\OpenNI\Include\XnPlatform.h 58 //#if _MSC_VER > 1600 // After MSVC8 (2010) // #error Xiron Platform Abstraction Layer - Win32 - Microsoft Visual Studio versions above 2010 (10.0) are not supported! //#endif openni_driver.cpp出现编译错误的代码均可以注释掉 最后有两个项目失败： pcl_ni_trajkovic pcl_openni_klt