vcpkg是Windows下pcl官方推荐的安装方法。Window没得Linux下好用的包管理方式,Linux下一行 sudo apt-get install libpcl-all就能完成安装,而Windows下自己编译源码好麻烦,找编译好的还要对一下版本。
vcpkg是跨平台的C++包管理器,链接:点这里。vcpkg最低支持vs2015,还需要英文语言包,没有的话要到vs里下一个。
下载好,用cmd或者powershell进入到vcpkg目录,运行:
\bootstrap-vcpkg.bat
与vs一起用:
.\vcpkg integrate install
之后
.\vcpkg install pcl
就可以安装pcl啦!
经过漫长的等待,发现默认安装了32位版本==,想要64位记得换一下安装命令:
.\vcpkg install pcl:x64-windows
如果下载GitHub上的文件实在太慢,可以手动下载挪到指定位置哦。
开始测试,随便找了pcl上的一段教程代码,成功~
#include <iostream>
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// Fill in the cloud data
cloud->width = 15;
cloud->height = 1;
cloud->points.resize (cloud->width * cloud->height);
// Generate the data
for (auto& point: *cloud)
{
point.x = 1024 * rand () / (RAND_MAX + 1.0f);
point.y = 1024 * rand () / (RAND_MAX + 1.0f);
point.z = 1.0;
}
// Set a few outliers
(*cloud)[0].z = 2.0;
(*cloud)[3].z = -2.0;
(*cloud)[6].z = 4.0;
std::cerr << "Point cloud data: " << cloud->size () << " points" << std::endl;
for (const auto& point: *cloud)
std::cerr << " " << point.x << " "
<< point.y << " "
<< point.z << std::endl;
pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients);
pcl::PointIndices::Ptr inliers (new pcl::PointIndices);
// Create the segmentation object
pcl::SACSegmentation<pcl::PointXYZ> seg;
// Optional
seg.setOptimizeCoefficients (true);
// Mandatory
seg.setModelType (pcl::SACMODEL_PLANE);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setDistanceThreshold (0.01);
seg.setInputCloud (cloud);
seg.segment (*inliers, *coefficients);
if (inliers->indices.size () == 0)
{
PCL_ERROR ("Could not estimate a planar model for the given dataset.");
return (-1);
}
std::cerr << "Model coefficients: " << coefficients->values[0] << " "
<< coefficients->values[1] << " "
<< coefficients->values[2] << " "
<< coefficients->values[3] << std::endl;
std::cerr << "Model inliers: " << inliers->indices.size () << std::endl;
for (std::size_t i = 0; i < inliers->indices.size (); ++i)
for (const auto& idx: inliers->indices)
std::cerr << idx << " " << cloud->points[idx].x << " "
<< cloud->points[idx].y << " "
<< cloud->points[idx].z << std::endl;
return (0);
}
but,当我开开心心准备测试第二段可视化代码时,发现根本没有pcl/visulization文件夹。难道是这个vcpkg坏掉了?重新
.\vcpkg install pcl
后来查了一下,因为pcl还不支持vtk9.0,可以用git reset 回退版本,于是选择直接装all in one的.exe文件。
windows上好慢,转战ubuntu辽。(略)