原文转载于:http://blog.csdn.net/zhangping560/article/details/53978011
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在安装PCL时,最方便的办法是官网提供PCL all in one版本,下载安装即可,不需要对pcl源码编译及环境配置,但是目前该版本最新支持到1.6,而PCL源码库的版本一般较高(目前是1.8版本)。all in one版本可能缺少最新的功能。
在此,我使用Cmake进行最新的源码编译。官网给出了配置方法:http://pointclouds.org/documentation/tutorials/compiling_pcl_windows.php
在pcl的官网上可以下载所有的库的源码。 http://www.pointclouds.org/downloads/windows.html
前四项是必须要下载的(因为我需要用到点抓取功能,就安装的OpenNI。)并下载最新的PCL源码。 https://github.com/PointCloudLibrary/pcl/releases 解压,源码放在你指定的文件夹中,比如:C:/PCL/pcl
Eigen :
FLANN :
VTK :
OpenNI :
其他库我们没有安装,就不需要指定了。以上路径如果没有找到就手动指定就好。
点击配置,如果没错误的话就点击生成。
在生成目录中打开PCL.sln工程。生成ALL_BUILD
如果上面的步骤你设置的都正确的话(尤其是32位64位设置),编译过程会有几个小错误:
编译到visualization模块时,如下语句会报错。参考:http://blog.csdn.net/Linear_Luo/article/details/52658984
if (!pcl::visualization::getColormapLUT (static_cast<LookUpTableRepresentationProperties>(value), table)) break;
'static_cast': cannot convert from 'double' to 'pcl::visualization::LookUpTableRepresentationPropert
解决方案:
将所有的
- 1
- 1
修改成
这样应该就没问题了。编译会完全成功(dubug和release下都进行编译)
然后生成INSTALL。(dubug和release下都进行编译)
生成成功后,在C:\Program Files下会生成PCL文件夹,这就是配置好的PCL库了。之后就可以像OpenCV一样配置环境变量调用编程了
参考:blog.sina.com.cn/s/blog_b3a4f3f80101k38a.html
1、打开计算机 à 系统属性 à 高级系统设置 à 环境变量,在系统变量中添加C:\Program Files\OpenNI\Bin64;C:\Program Files\Boost\lib;C:\Program Files\flann\bin;C:\Program Files (x86)\Eigen\bin;C:Program Files\PCL\bin
2、打开VS2010 ,创建一个新的工程,点击左侧窗口下方的属性管理器,双击Microsoft.Cpp.win32.user,弹出属性页。
点击VC++目录(VC++ Directories)
在包含目录(Include Directories)里添加:
C:\Program Files (x86)\Eigen\include
C:\Program Files\flann\include
C:\Program Files\VTK 5.8.0\include\vtk-5.8
C:\Program Files\Boost\include
C:\Program Files\PCL\include\pcl-1.8
在库目录里(Library Directories)添加:
C:\Program Files\flann\lib
C:\Program Files\VTK 5.8.0\lib\vtk-5.8
C:\Program Files\Boost\lib
C:\Program Files\PCL\lib
点击C/C++——>常规(General),点开附加包含目录(Additional Include Directories),添加
C:\Program Files (x86)\Eigen\include
C:\Program Files\flann\include
C:\Program Files\VTK 5.8.0\include\vtk-5.8
C:\Program Files\Boost\include
C:\Program Files\PCL\include\pcl-1.8
点开链接器->常规,在附加库目录中添加
C:\Program Files\flann\lib
C:\Program Files\VTK 5.8.0\lib\vtk-5.8
C:\Program Files\Boost\lib
C:\Program Files\PCL\lib
链接器->输入->附加依赖项里边添加:
boost_chrono-vc100-mt-gd-1_50.lib
boost_date_time-vc100-mt-gd-1_50.lib
boost_filesystem-vc100-mt-gd-1_50.lib
boost_graph-vc100-mt-gd-1_50.lib
boost_graph_parallel-vc100-mt-gd-1_50.lib
boost_iostreams-vc100-mt-gd-1_50.lib
boost_locale-vc100-mt-gd-1_50.lib
boost_math_c99-vc100-mt-gd-1_50.lib
boost_math_c99f-vc100-mt-gd-1_50.lib
boost_math_tr1-vc100-mt-gd-1_50.lib
boost_math_tr1f-vc100-mt-gd-1_50.lib
boost_mpi-vc100-mt-gd-1_50.lib
boost_prg_exec_monitor-vc100-mt-gd-1_50.lib
boost_program_options-vc100-mt-gd-1_50.lib
boost_random-vc100-mt-gd-1_50.lib
boost_regex-vc100-mt-gd-1_50.lib
boost_serialization-vc100-mt-gd-1_50.lib
boost_signals-vc100-mt-gd-1_50.lib
boost_system-vc100-mt-gd-1_50.lib
boost_thread-vc100-mt-gd-1_50.lib
boost_timer-vc100-mt-gd-1_50.lib
boost_unit_test_framework-vc100-mt-gd-1_50.lib
boost_wave-vc100-mt-gd-1_50.lib
boost_wserialization-vc100-mt-gd-1_50.lib
libboost_chrono-vc100-mt-gd-1_50.lib
libboost_date_time-vc100-mt-gd-1_50.lib
libboost_filesystem-vc100-mt-gd-1_50.lib
libboost_graph_parallel-vc100-mt-gd-1_50.lib
libboost_iostreams-vc100-mt-gd-1_50.lib
libboost_locale-vc100-mt-gd-1_50.lib
libboost_math_c99-vc100-mt-gd-1_50.lib
libboost_math_c99f-vc100-mt-gd-1_50.lib
libboost_math_tr1-vc100-mt-gd-1_50.lib
libboost_math_tr1f-vc100-mt-gd-1_50.lib
libboost_mpi-vc100-mt-gd-1_50.lib
libboost_prg_exec_monitor-vc100-mt-gd-1_50.lib
libboost_program_options-vc100-mt-gd-1_50.lib
libboost_random-vc100-mt-gd-1_50.lib
libboost_regex-vc100-mt-gd-1_50.lib
libboost_serialization-vc100-mt-gd-1_50.lib
libboost_signals-vc100-mt-gd-1_50.lib
libboost_system-vc100-mt-gd-1_50.lib
libboost_test_exec_monitor-vc100-mt-gd-1_50.lib
libboost_thread-vc100-mt-gd-1_50.lib
libboost_timer-vc100-mt-gd-1_50.lib
libboost_unit_test_framework-vc100-mt-gd-1_50.lib
libboost_wave-vc100-mt-gd-1_50.lib
libboost_wserialization-vc100-mt-gd-1_50.lib
flann-gd.lib
flann_cpp_s-gd.lib
flann_cuda_s-gd.lib
flann_s-gd.lib
pcl_common_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_io_debug.lib
pcl_io_ply_debug.lib
pcl_kdtree_debug.lib
pcl_keypoints_debug.lib
pcl_octree_debug.lib
pcl_outofcore_debug.lib
pcl_people_debug.lib
pcl_recognition_debug.lib
pcl_registration_debug.lib
pcl_sample_consensus_debug.lib
pcl_search_debug.lib
pcl_segmentation_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
pcl_visualization_debug.lib
MapReduceMPI-gd.lib
mpistubs-gd.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
以上是debug下的配置,release下的配置一样,链接库需要换一下
opengl32.lib
boost_chrono-vc100-mt-1_50.lib
boost_date_time-vc100-mt-1_50.lib
boost_filesystem-vc100-mt-1_50.lib
boost_graph-vc100-mt-1_50.lib
boost_graph_parallel-vc100-mt-1_50.lib
boost_iostreams-vc100-mt-1_50.lib
boost_locale-vc100-mt-1_50.lib
boost_math_c99-vc100-mt-1_50.lib
boost_math_c99f-vc100-mt-1_50.lib
boost_math_tr1-vc100-mt-1_50.lib
boost_math_tr1f-vc100-mt-1_50.lib
boost_mpi-vc100-mt-1_50.lib
boost_prg_exec_monitor-vc100-mt-1_50.lib
boost_program_options-vc100-mt-1_50.lib
boost_random-vc100-mt-1_50.lib
boost_regex-vc100-mt-1_50.lib
boost_serialization-vc100-mt-1_50.lib
boost_signals-vc100-mt-1_50.lib
boost_system-vc100-mt-1_50.lib
boost_thread-vc100-mt-1_50.lib
boost_timer-vc100-mt-1_50.lib
boost_unit_test_framework-vc100-mt-1_50.lib
boost_wave-vc100-mt-1_50.lib
boost_wserialization-vc100-mt-1_50.lib
libboost_chrono-vc100-mt-1_50.lib
libboost_date_time-vc100-mt-1_50.lib
libboost_filesystem-vc100-mt-1_50.lib
libboost_graph_parallel-vc100-mt-1_50.lib
libboost_iostreams-vc100-mt-1_50.lib
libboost_locale-vc100-mt-1_50.lib
libboost_math_c99-vc100-mt-1_50.lib
libboost_math_c99f-vc100-mt-1_50.lib
libboost_math_tr1-vc100-mt-1_50.lib
libboost_math_tr1f-vc100-mt-1_50.lib
libboost_mpi-vc100-mt-1_50.lib
libboost_prg_exec_monitor-vc100-mt-1_50.lib
libboost_program_options-vc100-mt-1_50.lib
libboost_random-vc100-mt-1_50.lib
libboost_regex-vc100-mt-1_50.lib
libboost_serialization-vc100-mt-1_50.lib
libboost_signals-vc100-mt-1_50.lib
libboost_system-vc100-mt-1_50.lib
libboost_test_exec_monitor-vc100-mt-1_50.lib
libboost_thread-vc100-mt-1_50.lib
libboost_timer-vc100-mt-1_50.lib
libboost_unit_test_framework-vc100-mt-1_50.lib
libboost_wave-vc100-mt-1_50.lib
libboost_wserialization-vc100-mt-1_50.lib
flann.lib
flann_cpp_s.lib
flann_cuda_s.lib
flann_s.lib
pcl_common_release.lib
pcl_features_release.lib
pcl_filters_release.lib
pcl_io_ply_release.lib
pcl_io_release.lib
pcl_kdtree_release.lib
pcl_keypoints_release.lib
pcl_octree_release.lib
pcl_outofcore_release.lib
pcl_people_release.lib
pcl_recognition_release.lib
pcl_registration_release.lib
pcl_sample_consensus_release.lib
pcl_search_release.lib
pcl_segmentation_release.lib
pcl_surface_release.lib
pcl_tracking_release.lib
pcl_visualization_release.lib
MapReduceMPI.lib
mpistubs.lib
vtkalglib.lib
vtkCharts.lib
vtkCommon.lib
vtkDICOMParser.lib
vtkexoIIc.lib
vtkexpat.lib
vtkFiltering.lib
vtkfreetype.lib
vtkftgl.lib
vtkGenericFiltering.lib
vtkGeovis.lib
vtkGraphics.lib
vtkhdf5.lib
vtkHybrid.lib
vtkImaging.lib
vtkInfovis.lib
vtkIO.lib
vtkjpeg.lib
vtklibxml2.lib
vtkmetaio.lib
vtkNetCDF.lib
vtkNetCDF_cxx.lib
vtkpng.lib
vtkproj4.lib
vtkRendering.lib
vtksqlite.lib
vtksys.lib
vtktiff.lib
vtkverdict.lib
vtkViews.lib
vtkVolumeRendering.lib
vtkWidgets.lib
vtkzlib.lib
好了,至此就配置完成了。(重新启动计算机,完成配置)我们可以编写测试程序了:
结果:
最后,祝各位配置顺利!