《PCL点云库学习&VS2010(X64)》Part 1 Installation of PCL in VS2010(x64)

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最新推荐文章于 2024-08-15 07:01:34 发布

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分类专栏：《PCL点云库 C++ 》文章标签： PCL点云 3d visual studio 2010 OpenNI OpenGL mfc

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《PCL点云库学习&VS2010(X64)》Part 1 Installation of PCL in VS2010(x64)

一、PCL+VS2010安装与环境配置

我的电脑环境参数：

操作系统：Win7 64bit

VS版本：Visual Studio2010 64bit Chinese Ultimate

安装包版本：PCL 1.6.0 All-In-One Installer、PDB files

1、官方下载地址：http://www.pointclouds.org/downloads/windows.html，下载PCL完全安装包1.6.0 all-in-one-installer和PDB file，我的电脑是64位的选择Windows MSVC 2010 (64bit)

注：1.6.0 all-in-one-installer不支持Qt,需要Qt支持的得下载各个独立的安装包才能在Qt中运行。

2、安装：双击PCL-1.6.0-AllInOne-msvc2010-win64.exe经行傻瓜式安装，中间有需要更改安装路径的自己动手改一下，这个过程中会提示安装几个第三方软件：Eigen、Boost、Qhull、Flann、VTK、OpenNI、PrimeScene。改路径时放在一个相同的大文件夹里，方便查找。

下图一是安装后在Program Files中产生的三个文件夹；

下图二是安装后3rdParty文件夹中的六个第三方软件生成的文件夹。

3、将pcl-1.6.0-pdb-msvc2010-win64.zip解压，并把解压文件复制到安装好的PCL目录下的bin文件夹中，以实现后期但不PCL源码调试，至此就在Win7 、VS2010等64位的环境下配置好了PCL的安装环境。

4、配置环境变量

计算机—>右击—>属性—>高级系统设计—>环境变量—>系统变量：（变量 PCL_ROOT ）（值 d:\Program Files\PCL 1.6.0）

系统路径path后添加（我这有点重复，自己认真看看，重复的可以不要，但是加上也没什么影响）：

D:\Program Files\OpenNI\Bin64;

D:\Program Files\PCL 1.6.0\bin;

D:\Program Files (x86)\Microsoft Visual Studio\VC98\include;

D:\Program Files\PCL 1.6.0\3rdParty\Eigen\include;

D:\Program Files\PCL 1.6.0\3rdParty\Boost\include;

D:\Program Files\PCL 1.6.0\3rdParty\FLANN\include;

D:\Program Files\PCL 1.6.0\3rdParty\Qhull\include;

D:\Program Files\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8;

D:\Program Files\OpenNI\Include;

D:\Program Files\PCL 1.6.0\include\pcl-1.6;

D:\Program Files\OpenNI\Lib64;

D:\Program Files\PCL 1.6.0\lib;

D:\Program Files\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8;

D:\Program Files\PCL 1.6.0\3rdParty\FLANN\lib;

D:\Program Files\PCL 1.6.0\3rdParty\Qhull\lib;

D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib;

D:\Program Files\OpenNI\Bin64;

D:\Program Files\PCL 1.6.0\bin;

D:\Program Files\PCL 1.6.0\3rdParty\FLANN\bin;

D:\Program Files\PCL 1.6.0\3rdParty\Qhull\bin;

D:\Program Files\PCL 1.6.0\3rdParty\Eigen\bin;

D:\Program Files\PCL 1.6.0\3rdParty\VTK\bin

二、新建工程并测试安装环境

1、新建Win32控制台应用程序，空工程，拷贝源文件，文件路径如下所示，自己在电脑的安装目录下找。

D:\Program Files\PCL 1.6.0\share\doc\pcl-1.6\tutorials\sources\cloud_viewer.cpp

2、到工程目录下，添加到工

程，源文件如下，懒得找的人可以拷贝到自己的.cpp文件下。

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;
}

3、配置工程：主要包括添加include文件夹、lib文件夹和添加.lib库文件

（1）添加include文件夹

你可以把安装目录D:\Program Files\PCL 1.6.0\改成自己的安装目录 项目右击—>属性—>C/C++—>附加包含目录：

Include：
D:\Program Files\PCL 1.6.0\3rdParty\Boost\include;D:\Program Files\PCL 1.6.0\3rdParty\Eigen\include;D:\Program Files\PCL 1.6.0\3rdParty\FLANN\include;D:\Program Files\PCL 1.6.0\3rdParty\Qhull\include;D:\Program Files\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8;D:\Program Files\OpenNI\Include;D:\Program Files\PCL 1.6.0\include\pcl-1.6

（当然，你也可以在项目属性->VC++目录->包含目录 添加上述路径，二选一，效果一样）

（2）添加bin文件夹

项目右击—>属性—>链接器—>常规—>附加库目录：

lib：——注意<span style="color:#ff0000;">OpenNI\Lib64</span>
D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib;D:\Program Files\PCL 1.6.0\3rdParty\Qhull\lib;D:\Program Files\PCL 1.6.0\3rdParty\FLANN\lib;D:\Program Files\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8;D:\Program Files\PCL 1.6.0\lib;D:\Program Files\OpenNI\Lib64

（当然，你也可以在项目属性->VC++目录->库目录 添加上述路径，二选一，效果一样）

（3）添加.lib库文件

dubug模式，链接器->输入->附加依赖项 添加(注意和Lib文件夹下的.lib文件比对，一般后缀带_debug和_gd的为调试模式)：

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

4、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，我们需要自己创建mypointcloud.pcd文件

用记事本新建一个记事本文件，打开后，复制下列代码，然后保存，保存好以后再重命名为mypointcloud.pcd，后缀.pcd要带上

# .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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-0.18369 -0.23729 0 4.808e+06

运行效果：

全文重点之处：在VS2010界面的调试按钮旁边，我们要可以看到Debug和Win32,此时一定要在Win32的下拉列表中点击配置管理器，进入配置管理器对话框，活动解决方案平台设置为X64，关闭，然后回来F7调试程序，再F5运行。