VS2010+PCL+openni配置
PCL中文论坛：http://www.pclcn.org/bbs/forum.php
1、安装
pcl 的完全安装包可以到： http://pointclouds.org/downloads/windows.html 下载。然后进行安装，我的编译器是32位的，我下载的是vs2010 32bit的。
自动安装吧，选择添加环境变量
2、环境变量配置
添加环境变量PCL_ROOT
- C:\Program Files (x86)\PCL 1.6.0
然后在path环境变量下添加：
- %PCL_ROOT%\bin;%PCL_ROOT%\3rdParty\FLANN\bin;%PCL_ROOT%\3rdParty\Qhull\bin;
3、新建一个空的工程
新建文件 main.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;
- }
4、配置工程
1、项目--->属性--->配置属性--->vc++目录
包含目配置：
C:\Program Files (x86)\PCL 1.6.0\3rdParty\Boost\include;
C:\Program Files (x86)\PCL 1.6.0\3rdParty\Eigen\include;
C:\Program Files (x86)\PCL 1.6.0\3rdParty\Flann\include;
C:\Program Files (x86)\PCL 1.6.0\3rdParty\Qhull\include;
C:\Program Files (x86)\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8;
C:\Program Files (x86)\OpenNI\Include;
C:\Program Files (x86)\PCL 1.6.0\include\pcl-1.6;
项目属性->VC++目录->库目录
库目录配置：
C:\Program Files (x86)\PCL 1.6.0\3rdParty\Boost\lib;
C:\Program Files (x86)\PCL 1.6.0\3rdParty\Qhull\lib;
C:\Program Files (x86)\PCL 1.6.0\3rdParty\FLANN\lib;
C:\Program Files (x86)\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8;
C:\Program Files (x86)\PCL 1.6.0\lib;
C:\Program Files (x86)\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
此时环境已经搭建完毕，编译程序可以通过了，添加一个运行时需要的文件 my_point_cloud.pcd 就可以了
文件内容具体如下：
- # .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
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- 0.49375 0.21006 0 4.2108e+06
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- 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
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- -0.41545 0.21099 0 4.2108e+06
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- -0.78343 0.31973 0 4.2108e+06
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- -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
5、执行结果
出现的问题，运行时会出现好不到pcd文件，可以新建其他代码来生成pcd文件，也可以将别的pcd文件拷贝过来笔记本打开，修改里面内容
生成pcd文件代码：
- #include <iostream>
- #include <pcl/io/pcd_io.h>
- #include <pcl/point_types.h>
- int
- main (int argc, char** argv)
- {
- pcl::PointCloud<pcl::PointXYZ> cloud;
- // Fill in the cloud data
- cloud.width = 5;
- cloud.height = 1;
- cloud.is_dense = false;
- cloud.points.resize (cloud.width * cloud.height);
- for (size_t i = 0; i < cloud.points.size (); ++i)
- {
- cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
- cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
- cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
- }
- pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
- std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl;
- for (size_t i = 0; i < cloud.points.size (); ++i)
- std::cerr << " " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;
- return (0);
- }
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