PCL+VS2010环境配置
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://go.rritw.com/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;
项目属性->VC++目录->库目录 添加
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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6、执行效果
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