PCL 1.8.0编译、配置、VS2013

转载自: http://blog.csdn.net/wokaowokaowokao12345/article/details/51695331

引言

pcl1.8.0，较pcl1.7和1.6多了不少算法，很多感兴趣的方法都在pcl1.8中有所实现。当pcl11.8.0rc1和rc2发布时就迫不及待的下载下来进行使用，用了几个月发现pcl1.8.0rc版有几个bug无法解决，如：表面重建时无法映射纹理。得知2016/06/14 github 发布正式版pcl1.8.0时，就立马下载下来准备编译并记录整个过程，感兴趣的小伙伴可以参考。

pcl官网已经有windows平台下的编译过程，现在我基于此教程编译PCL1.8.0并配置。

PCL1.8.0源码包下载

下载地址：https://github.com/PointCloudLibrary/pcl/releases 

准备工具

编译器VS2013，CMakeGUI 3.3.2，系统版本win7 64位。 
提示：软件版本根据自己情况选择，没必要非要和博客中一致。

第三方依赖库

第三方库	用途	是否必须
Boost	用于智能指针等操作	必选
Eigen	用于矩阵运算等	必选
FLANN	用于邻域搜索等	必选
VTK	可视化库，用于显示点云等	必选
Qt	用于图像交互界面等	可选
QHULL	used for convex/concave hull decompositions in surface	可选
OpenNI	用于获取点云等	可选

提示：在编译PCL1.8.0时请确保您已安装了正确的第三方依赖库。不能混合32位和64位代码，并且不能混用不同编译器编译第三方库。有些库需要自己编译，这篇博客里就不对如何编译第三方依赖库进行讲解了，只详述PCL1.8.0的编译过程。

编译PCL1.8.0

官方编译教程：http://www.pointclouds.org/documentation/tutorials/compiling_pcl_windows.php 
提示：跟着官方教程操作即可成功。 
（1） 将源码包pcl-pcl-1.8.0.zip解压到目录：F:\pcl-1.8.0 
提示：根据自己需要解压即可，本博客一定程度上参考了官方教程。 
（2）打开CMakeGUI 
源码路径：F:/pcl-1.8.0 
项目路径：F:/pcl-1.8.0/build 
如图： 

点击configure，选择合适的编译器（VS2013 64位） 

（3）出现无法找到Eigen库 

将变量EIGEN_INCLUDE_DIR对应的值修改为Eigen库所在目录。 
如：F:\Eigen\eigen3 
重新configure 
提示找不到Boost库，添加下面三个变量和相应的路径，重新configure。

<code class="hljs tex has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">BOOST_ROOT="F:<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\Boost</span>"
Boost_LIBRARY_DIRS="F:<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\Boost</span><span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\lib</span>"
BOOST_INCLUDEDIR="F:<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\Boost</span><span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\include</span><span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\boost</span>-1_59"</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li></ul>

（4）修改安装路径 

或者，打开CPackConfig.cmake文件，修改CPACK_INSTALL_PREFIX值为F：\PCL1.8.0 
点Generate生成VS工程。 

（5）打开PCL.sln 
分别批生成Debug和Release版本，并分别安装。 

（6）Debug和Release版编译、安装成功 
Debug 


Release 

（7）提示 
Cmake构建工程时可能会出现其他依赖库缺失情况，一一补上就行。使用Cmake构建工程成功，也可能在VS中编译时会出现其他问题，根据提示也可以一一解决。整个编译过程很耗时，Debug和Release完全编译一次要一个小时左右。如果需要All in One安装包，在Cmake中勾选生成All in One包即可（特别费时所以就没勾选）。

配置

将下列路径加入环境变量：

<code class="hljs tex has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">F:<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\PCL</span>1.8.0C<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\bin</span>;F:<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\PCL</span>1.8.0C\3rdParty<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\FLANN</span><span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\bin</span>;F:<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\PCL</span>1.8.0C\3rdParty<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\OpenNI</span>2<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\Tools</span>;F:<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\PCL</span>1.8.0C\3rdParty<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\Qhull</span><span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\bin</span>;F:<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\PCL</span>1.8.0C\3rdParty<span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\VTK</span><span class="hljs-command" style="box-sizing: border-box; color: rgb(0, 0, 136);">\bin</span>;</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li></ul>

测试Debug版

（1）打开VS2013新建项目，添加如下代码

<code class="hljs lasso has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-variable" style="color: rgb(102, 0, 102); box-sizing: border-box;">#include</span> <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;"><</span>pcl/visualization/cloud_viewer<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>h<span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">></span>
<span class="hljs-variable" style="color: rgb(102, 0, 102); box-sizing: border-box;">#include</span> <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;"><</span>iostream<span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">></span>
<span class="hljs-variable" style="color: rgb(102, 0, 102); box-sizing: border-box;">#include</span> <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;"><</span>pcl/io/io<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>h<span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">></span>
<span class="hljs-variable" style="color: rgb(102, 0, 102); box-sizing: border-box;">#include</span> <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;"><</span>pcl/io/pcd_io<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>h<span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">></span>


int user_data;

<span class="hljs-literal" style="color: rgb(0, 102, 102); box-sizing: border-box;">void</span> viewerOneOff(pcl<span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::visualization</span><span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::PCLVisualizer</span><span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">&</span> viewer)
{
    viewer<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>setBackgroundColor(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1.0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.5</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1.0</span>);
    pcl<span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::PointXYZ</span> o;
    o<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>x <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">=</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1.0</span>;
    o<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>y <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">=</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;
    o<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>z <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">=</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;
    viewer<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>addSphere(o, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.25</span>, <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"sphere"</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);
    std<span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::cout</span> <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;"><<</span> <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"i only run once"</span> <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;"><<</span> std<span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::endl</span>;

}

<span class="hljs-literal" style="color: rgb(0, 102, 102); box-sizing: border-box;">void</span> viewerPsycho(pcl<span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::visualization</span><span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::PCLVisualizer</span><span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">&</span> viewer)
{
    static unsigned count <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">=</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;
    std<span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::stringstream</span> ss;
    ss <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;"><<</span> <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Once per viewer loop: "</span> <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;"><<</span> count<span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">++</span>;
    viewer<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>removeShape(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"text"</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);
    viewer<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>addText(ss<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>str(), <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">200</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">300</span>, <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"text"</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>);

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//FIXME: possible race condition here:</span>
    user_data<span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">++</span>;
}

int main()
{
    pcl<span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::PointCloud</span><span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;"><</span>pcl<span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::PointXYZRGBA</span><span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">></span><span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::Ptr</span> cloud(<span class="hljs-literal" style="color: rgb(0, 102, 102); box-sizing: border-box;">new</span> pcl<span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::PointCloud</span><span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;"><</span>pcl<span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::PointXYZRGBA</span><span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">></span>);
    pcl<span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::io</span><span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::loadPCDFile</span>(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"example.pcd的位置"</span>, <span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">*</span>cloud);

    pcl<span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::visualization</span><span class="hljs-tag" style="color: rgb(0, 102, 102); box-sizing: border-box;">::CloudViewer</span> viewer(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Cloud Viewer"</span>);

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//blocks until the cloud is actually rendered</span>
    viewer<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>showCloud(cloud);

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//use the following functions to get access to the underlying more advanced/powerful</span>
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//PCLVisualizer</span>

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//This will only get called once</span>
    viewer<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>runOnVisualizationThreadOnce(viewerOneOff);

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//This will get called once per visualization iteration</span>
    viewer<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>runOnVisualizationThread(viewerPsycho);
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">while</span> (<span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">!</span>viewer<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">.</span>wasStopped())
    {
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//you can also do cool processing here</span>
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//FIXME: Note that this is running in a separate thread from viewerPsycho</span>
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">//and you should guard against race conditions yourself...</span>
        user_data<span class="hljs-subst" style="color: rgb(0, 0, 0); box-sizing: border-box;">++</span>;
    }
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>;
}</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li></ul>

（2）新建属性表PCLCDebug 
 
VC++目录，添加包含目录 
 
VC++目录，添加库目录 
 
连接器，输入，附加依赖项 
提示：我是把所有的Debug依赖库都加上，因为用的多，懒得去挑。 
（2）最终结果 

编译和配置结束