PCL学习笔记（一）PCL+VS2010环境配置

缺乏、安全感 2022-01-23 03:49 324阅读 0赞

# PCL+VS2010环境配置 #

我本是效率至上的Linux党，但是PCL在Ubuntu下配置了几次都失败，不得不选择Windows

# 1、下载 #

[http://www.pointclouds.org/downloads/windows.html][http_www.pointclouds.org_downloads_windows.html]出下载PCL完全安装包1.6.0 all-in-one-installer，我的电脑是32位的选择Windows MSVC 2010 (32bit)

# 2、安装 #

安装在了

D:\Program Files\PCL\

# 3、配置环境变量 #

添加环境变量PCL\_ROOT

D:\Program Files\PCL\

系统路径path后添加：

D:\Program Files\OpenNI\Bin;%PCL_ROOT%\bin;%PCL_ROOT%\3rdParty\FLANN\bin;%PCL_ROOT%\3rdParty\Qhull\bin;

# 4、新建工程 #

新建Win32控制台应用程序，空工程，拷贝源文件

D:\Program Files\PCL\share\doc\pcl-1.6\tutorials\sources\cloud_viewer\cloud_viewer.cpp

到工程目录下，添加到工程

cloud\_viewer.cpp

#include <pcl/visualization/cloud_viewer.h>
    #include <iostream>
    #include <pcl/io/io.h>
    #include <pcl/io/pcd_io.h>
    
    int user_data;
    
    void 
    viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
    {
        viewer.setBackgroundColor (1.0, 0.5, 1.0);
        pcl::PointXYZ o;
        o.x = 1.0;
        o.y = 0;
        o.z = 0;
        viewer.addSphere (o, 0.25, "sphere", 0);
        std::cout << "i only run once" << std::endl;
    
    }
    
    void 
    viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
    {
        static unsigned count = 0;
        std::stringstream ss;
        ss << "Once per viewer loop: " << count++;
        viewer.removeShape ("text", 0);
        viewer.addText (ss.str(), 200, 300, "text", 0);
    
        //FIXME: possible race condition here:
        user_data++;
    }
    
    int 
    main ()
    {
        pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
        pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud);
    
        pcl::visualization::CloudViewer viewer("Cloud Viewer");
    
        //blocks until the cloud is actually rendered
        viewer.showCloud(cloud);
    
        //use the following functions to get access to the underlying more advanced/powerful
        //PCLVisualizer
    
        //This will only get called once
        viewer.runOnVisualizationThreadOnce (viewerOneOff);
    
        //This will get called once per visualization iteration
        viewer.runOnVisualizationThread (viewerPsycho);
        while (!viewer.wasStopped ())
        {
        //you can also do cool processing here
        //FIXME: Note that this is running in a separate thread from viewerPsycho
        //and you should guard against race conditions yourself...
        user_data++;
        }
        return 0;
    }

# 5、配置工程 #

你可以把安装目录D:\\Program Files\\PCL\\改成自己的安装目录 项目属性->VC++目录->包含目录 添加

D:\Program Files\PCL\3rdParty\Boost\include;D:\Program Files\PCL\3rdParty\Eigen\include;D:\Program Files\PCL\3rdParty\Flann\include;D:\Program Files\PCL\3rdParty\Qhull\include;D:\Program Files\PCL\3rdParty\VTK\include\vtk-5.8;C:\Program Files\OpenNI\Include;D:\Program Files\PCL\include\pcl-1.6;

D:\Program Files\PCL\3rdParty\Boost\lib;D:\Program Files\PCL\3rdParty\Qhull\lib;D:\Program Files\PCL\3rdParty\FLANN\lib;D:\Program Files\PCL\3rdParty\VTK\lib\vtk-5.8;D:\Program Files\PCL\lib;C:\Program Files\OpenNI\Lib;

dubug模式，链接器->输入->附加依赖项 添加

opengl32.lib
    pcl_kdtree_debug.lib
    pcl_io_debug.lib
    pcl_search_debug.lib
    pcl_segmentation_debug.lib
    pcl_apps_debug.lib
    pcl_features_debug.lib
    pcl_filters_debug.lib
    pcl_visualization_debug.lib
    pcl_common_debug.lib
    flann_cpp_s-gd.lib
    libboost_system-vc100-mt-gd-1_47.lib
    libboost_filesystem-vc100-mt-gd-1_47.lib
    libboost_thread-vc100-mt-gd-1_47.lib
    libboost_date_time-vc100-mt-gd-1_47.lib
    libboost_iostreams-vc100-mt-gd-1_47.lib
    vtkalglib-gd.lib
    vtkCharts-gd.lib
    vtkCommon-gd.lib
    vtkDICOMParser-gd.lib
    vtkexoIIc-gd.lib
    vtkexpat-gd.lib
    vtkFiltering-gd.lib
    vtkfreetype-gd.lib
    vtkftgl-gd.lib
    vtkGenericFiltering-gd.lib
    vtkGeovis-gd.lib
    vtkGraphics-gd.lib
    vtkhdf5-gd.lib
    vtkHybrid-gd.lib
    vtkImaging-gd.lib
    vtkInfovis-gd.lib
    vtkIO-gd.lib
    vtkjpeg-gd.lib
    vtklibxml2-gd.lib
    vtkmetaio-gd.lib
    vtkNetCDF-gd.lib
    vtkNetCDF_cxx-gd.lib
    vtkpng-gd.lib
    vtkproj4-gd.lib
    vtkRendering-gd.lib
    vtksqlite-gd.lib
    vtksys-gd.lib
    vtktiff-gd.lib
    vtkverdict-gd.lib
    vtkViews-gd.lib
    vtkVolumeRendering-gd.lib
    vtkWidgets-gd.lib
    vtkzlib-gd.lib

正常情况下，此时是可以编译通过的，但是执行时找不到mypointcloud.pcd文件，创建mypointcloud.pcd文件

# .PCD v.7 - Point Cloud Data file format
    VERSION .7
    FIELDS x y z rgb
    SIZE 4 4 4 4
    TYPE F F F F
    COUNT 1 1 1 1
    WIDTH 213
    HEIGHT 1
    VIEWPOINT 0 0 0 1 0 0 0
    POINTS 213
    DATA ascii
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    0.944 0.29474 0 4.2108e+06
    0.98111 0.24247 0 4.2108e+06
    0.93655 0.26143 0 4.2108e+06
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# 6、执行效果 #

![20130611011612843][]

[http_www.pointclouds.org_downloads_windows.html]: http://www.pointclouds.org/downloads/windows.html
[20130611011612843]: /images/20220123/def53e41cc5541a0b4aa06a28ad2ffa7.png