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

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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

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-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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