PCL学习笔记（一）PCL+VS2010环境配置

缺乏、安全感 2022-01-23 03:49 333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
    0.93773 0.33763 0 4.2108e+06
    0.90805 0.35641 0 4.2108e+06
    0.81915 0.32 0 4.2108e+06
    0.97192 0.278 0 4.2108e+06
    0.944 0.29474 0 4.2108e+06
    0.98111 0.24247 0 4.2108e+06
    0.93655 0.26143 0 4.2108e+06
    0.91631 0.27442 0 4.2108e+06
    0.81921 0.29315 0 4.2108e+06
    0.90701 0.24109 0 4.2108e+06
    0.83239 0.23398 0 4.2108e+06
    0.99185 0.2116 0 4.2108e+06
    0.89264 0.21174 0 4.2108e+06
    0.85082 0.21212 0 4.2108e+06
    0.81044 0.32222 0 4.2108e+06
    0.74459 0.32192 0 4.2108e+06
    0.69927 0.32278 0 4.2108e+06
    0.8102 0.29315 0 4.2108e+06
    0.75504 0.29765 0 4.2108e+06
    0.8102 0.24399 0 4.2108e+06
    0.74995 0.24723 0 4.2108e+06
    0.68049 0.29768 0 4.2108e+06
    0.66509 0.29002 0 4.2108e+06
    0.69441 0.2526 0 4.2108e+06
    0.62807 0.22187 0 4.2108e+06
    0.58706 0.32199 0 4.2108e+06
    0.52125 0.31955 0 4.2108e+06
    0.49351 0.32282 0 4.2108e+06
    0.44313 0.32169 0 4.2108e+06
    0.58678 0.2929 0 4.2108e+06
    0.53436 0.29164 0 4.2108e+06
    0.59308 0.24134 0 4.2108e+06
    0.5357 0.2444 0 4.2108e+06
    0.50043 0.31235 0 4.2108e+06
    0.44107 0.29711 0 4.2108e+06
    0.50727 0.22193 0 4.2108e+06
    0.43957 0.23976 0 4.2108e+06
    0.8105 0.21112 0 4.2108e+06
    0.73555 0.2114 0 4.2108e+06
    0.69907 0.21082 0 4.2108e+06
    0.63327 0.21154 0 4.2108e+06
    0.59165 0.21201 0 4.2108e+06
    0.52477 0.21491 0 4.2108e+06
    0.49375 0.21006 0 4.2108e+06
    0.4384 0.19632 0 4.2108e+06
    0.43425 0.16052 0 4.2108e+06
    0.3787 0.32173 0 4.2108e+06
    0.33444 0.3216 0 4.2108e+06
    0.23815 0.32199 0 4.808e+06
    0.3788 0.29315 0 4.2108e+06
    0.33058 0.31073 0 4.2108e+06
    0.3788 0.24399 0 4.2108e+06
    0.30249 0.29189 0 4.2108e+06
    0.23492 0.29446 0 4.808e+06
    0.29465 0.24399 0 4.2108e+06
    0.23514 0.24172 0 4.808e+06
    0.18836 0.32277 0 4.808e+06
    0.15992 0.32176 0 4.808e+06
    0.08642 0.32181 0 4.808e+06
    0.039994 0.32283 0 4.808e+06
    0.20039 0.31211 0 4.808e+06
    0.1417 0.29506 0 4.808e+06
    0.20921 0.22332 0 4.808e+06
    0.13884 0.24227 0 4.808e+06
    0.085123 0.29441 0 4.808e+06
    0.048446 0.31279 0 4.808e+06
    0.086957 0.24399 0 4.808e+06
    0.3788 0.21189 0 4.2108e+06
    0.29465 0.19323 0 4.2108e+06
    0.23755 0.19348 0 4.808e+06
    0.29463 0.16054 0 4.2108e+06
    0.23776 0.16054 0 4.808e+06
    0.19016 0.21038 0 4.808e+06
    0.15704 0.21245 0 4.808e+06
    0.08678 0.21169 0 4.808e+06
    0.012746 0.32168 0 4.808e+06
    -0.075715 0.32095 0 4.808e+06
    -0.10622 0.32304 0 4.808e+06
    -0.16391 0.32118 0 4.808e+06
    0.00088411 0.29487 0 4.808e+06
    -0.057568 0.29457 0 4.808e+06
    -0.0034333 0.24399 0 4.808e+06
    -0.055185 0.24185 0 4.808e+06
    -0.10983 0.31352 0 4.808e+06
    -0.15082 0.29453 0 4.808e+06
    -0.11534 0.22049 0 4.808e+06
    -0.15155 0.24381 0 4.808e+06
    -0.1912 0.32173 0 4.808e+06
    -0.281 0.3185 0 4.808e+06
    -0.30791 0.32307 0 4.808e+06
    -0.33854 0.32148 0 4.808e+06
    -0.21248 0.29805 0 4.808e+06
    -0.26372 0.29905 0 4.808e+06
    -0.22562 0.24399 0 4.808e+06
    -0.25035 0.2371 0 4.808e+06
    -0.29941 0.31191 0 4.808e+06
    -0.35845 0.2954 0 4.808e+06
    -0.29231 0.22236 0 4.808e+06
    -0.36101 0.24172 0 4.808e+06
    -0.0034393 0.21129 0 4.808e+06
    -0.07306 0.21304 0 4.808e+06
    -0.10579 0.2099 0 4.808e+06
    -0.13642 0.21411 0 4.808e+06
    -0.22562 0.19323 0 4.808e+06
    -0.24439 0.19799 0 4.808e+06
    -0.22591 0.16041 0 4.808e+06
    -0.23466 0.16082 0 4.808e+06
    -0.3077 0.20998 0 4.808e+06
    -0.3413 0.21239 0 4.808e+06
    -0.40551 0.32178 0 4.2108e+06
    -0.50568 0.3218 0 4.2108e+06
    -0.41732 0.30844 0 4.2108e+06
    -0.44237 0.28859 0 4.2108e+06
    -0.41591 0.22004 0 4.2108e+06
    -0.44803 0.24236 0 4.2108e+06
    -0.50623 0.29315 0 4.2108e+06
    -0.50916 0.24296 0 4.2108e+06
    -0.57019 0.22334 0 4.2108e+06
    -0.59611 0.32199 0 4.2108e+06
    -0.65104 0.32199 0 4.2108e+06
    -0.72566 0.32129 0 4.2108e+06
    -0.75538 0.32301 0 4.2108e+06
    -0.59653 0.29315 0 4.2108e+06
    -0.65063 0.29315 0 4.2108e+06
    -0.59478 0.24245 0 4.2108e+06
    -0.65063 0.24399 0 4.2108e+06
    -0.70618 0.29525 0 4.2108e+06
    -0.76203 0.31284 0 4.2108e+06
    -0.70302 0.24183 0 4.2108e+06
    -0.77062 0.22133 0 4.2108e+06
    -0.41545 0.21099 0 4.2108e+06
    -0.45004 0.19812 0 4.2108e+06
    -0.4475 0.1673 0 4.2108e+06
    -0.52031 0.21236 0 4.2108e+06
    -0.55182 0.21045 0 4.2108e+06
    -0.5965 0.21131 0 4.2108e+06
    -0.65064 0.2113 0 4.2108e+06
    -0.72216 0.21286 0 4.2108e+06
    -0.7556 0.20987 0 4.2108e+06
    -0.78343 0.31973 0 4.2108e+06
    -0.87572 0.32111 0 4.2108e+06
    -0.90519 0.32263 0 4.2108e+06
    -0.95526 0.34127 0 4.2108e+06
    -0.79774 0.29271 0 4.2108e+06
    -0.85618 0.29497 0 4.2108e+06
    -0.79975 0.24326 0 4.2108e+06
    -0.8521 0.24246 0 4.2108e+06
    -0.91157 0.31224 0 4.2108e+06
    -0.95031 0.29572 0 4.2108e+06
    -0.92223 0.2213 0 4.2108e+06
    -0.94979 0.24354 0 4.2108e+06
    -0.78641 0.21505 0 4.2108e+06
    -0.87094 0.21237 0 4.2108e+06
    -0.90637 0.20934 0 4.2108e+06
    -0.93777 0.21481 0 4.2108e+06
    0.22244 -0.0296 0 4.808e+06
    0.2704 -0.078167 0 4.808e+06
    0.24416 -0.056883 0 4.808e+06
    0.27311 -0.10653 0 4.808e+06
    0.26172 -0.10653 0 4.808e+06
    0.2704 -0.1349 0 4.808e+06
    0.24428 -0.15599 0 4.808e+06
    0.19017 -0.025297 0 4.808e+06
    0.14248 -0.02428 0 4.808e+06
    0.19815 -0.037432 0 4.808e+06
    0.14248 -0.03515 0 4.808e+06
    0.093313 -0.02428 0 4.808e+06
    0.044144 -0.02428 0 4.808e+06
    0.093313 -0.03515 0 4.808e+06
    0.044144 -0.03515 0 4.808e+06
    0.21156 -0.17357 0 4.808e+06
    0.029114 -0.12594 0 4.2108e+06
    0.036583 -0.15619 0 4.2108e+06
    0.22446 -0.20514 0 4.808e+06
    0.2208 -0.2369 0 4.808e+06
    0.2129 -0.208 0 4.808e+06
    0.19316 -0.25672 0 4.808e+06
    0.14497 -0.27484 0 4.808e+06
    0.030167 -0.18748 0 4.2108e+06
    0.1021 -0.27453 0 4.808e+06
    0.1689 -0.2831 0 4.808e+06
    0.13875 -0.28647 0 4.808e+06
    0.086993 -0.29568 0 4.808e+06
    0.044924 -0.3154 0 4.808e+06
    -0.0066125 -0.02428 0 4.808e+06
    -0.057362 -0.02428 0 4.808e+06
    -0.0066125 -0.03515 0 4.808e+06
    -0.057362 -0.03515 0 4.808e+06
    -0.10653 -0.02428 0 4.808e+06
    -0.15266 -0.025282 0 4.808e+06
    -0.10653 -0.03515 0 4.808e+06
    -0.16036 -0.037257 0 4.808e+06
    0.0083286 -0.1259 0 4.2108e+06
    0.0007442 -0.15603 0 4.2108e+06
    -0.1741 -0.17381 0 4.808e+06
    -0.18502 -0.02954 0 4.808e+06
    -0.20707 -0.056403 0 4.808e+06
    -0.23348 -0.07764 0 4.808e+06
    -0.2244 -0.10653 0 4.808e+06
    -0.23604 -0.10652 0 4.808e+06
    -0.20734 -0.15641 0 4.808e+06
    -0.23348 -0.13542 0 4.808e+06
    0.0061083 -0.18729 0 4.2108e+06
    -0.066235 -0.27472 0 4.808e+06
    -0.17577 -0.20789 0 4.808e+06
    -0.10861 -0.27494 0 4.808e+06
    -0.15584 -0.25716 0 4.808e+06
    -0.0075775 -0.31546 0 4.808e+06
    -0.050817 -0.29595 0 4.808e+06
    -0.10306 -0.28653 0 4.808e+06
    -0.1319 -0.2831 0 4.808e+06
    -0.18716 -0.20571 0 4.808e+06
    -0.18369 -0.23729 0 4.808e+06

# 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