Windows下安装PCL
到github下载对应的安装包
搜索pcl,选择官方仓库
点击releases
这里我们选择最新的1.14
安装PCL
1.选择下载的pcl安装包
2.勾选为所有的用户添加环境变量
3.选择安装目录
接下来无脑下一步
4 解压pdb文件,并把解压缩的文件复制到pcl安装目录下的bin中
配置环境变量
添加openni2_redist的环境变量
在path中添加如下环境变量
%OPENNI2_REDIST64%
C:\Program Files\PCL 1.14.0\bin
C:\Program Files\PCL 1.14.0\3rdParty\VTK\bin
C:\Program Files\PCL 1.14.0\3rdParty\FLANN\bin
C:\Program Files\PCL 1.14.0\3rdParty\Qhull\bin
C:\Program Files\OpenNI2\Tools
在VS中创建项目,验证是否成功安装PCL
注意:PCL1.14 配套VS2022
- 选择C++空项目
2.设置项目属性
记得点应用
VC++目录->包含目录
添加以下内容
C:\Program Files\PCL 1.14.0\3rdParty\VTK\include\vtk-9.3
C:\Program Files\PCL 1.14.0\3rdParty\Qhull\include
C:\Program Files\PCL 1.14.0\3rdParty\OpenNI2\Include
C:\Program Files\PCL 1.14.0\3rdParty\FLANN\include
C:\Program Files\PCL 1.14.0\3rdParty\Eigen3\include\eigen3
C:\Program Files\PCL 1.14.0\3rdParty\Boost\include\boost-1_84
C:\Program Files\PCL 1.14.0\include\pcl-1.14
VC++目录->库目录
添加以下内容
C:\Program Files\PCL 1.14.0\lib
C:\Program Files\PCL 1.14.0\3rdParty\Boost\lib
C:\Program Files\PCL 1.14.0\3rdParty\FLANN\lib
C:\Program Files\PCL 1.14.0\3rdParty\OpenNI2\Lib
C:\Program Files\PCL 1.14.0\3rdParty\Qhull\lib
C:\Program Files\PCL 1.14.0\3rdParty\VTK\lib
连接器->输入->附加依赖项
添加以下内容,有些长
pcl_commond.lib;pcl_featuresd.lib;pcl_filtersd.lib;pcl_iod.lib;pcl_io_plyd.lib;pcl_kdtreed.lib;pcl_keypointsd.lib;pcl_mld.lib;pcl_octreed.lib;pcl_outofcored.lib;pcl_peopled.lib;pcl_recognitiond.lib;pcl_registrationd.lib;pcl_sample_consensusd.lib;pcl_searchd.lib;pcl_segmentationd.lib;pcl_stereod.lib;pcl_surfaced.lib;pcl_trackingd.lib;pcl_visualizationd.lib;vtkcgns-9.3-gd.lib;vtkChartsCore-9.3-gd.lib;vtkCommonColor-9.3-gd.lib;vtkCommonComputationalGeometry-9.3-gd.lib;vtkCommonCore-9.3-gd.lib;vtkCommonDataModel-9.3-gd.lib;vtkCommonExecutionModel-9.3-gd.lib;vtkCommonMath-9.3-gd.lib;vtkCommonMisc-9.3-gd.lib;vtkCommonSystem-9.3-gd.lib;vtkCommonTransforms-9.3-gd.lib;vtkDICOMParser-9.3-gd.lib;vtkDomainsChemistry-9.3-gd.lib;vtkDomainsChemistryOpenGL2-9.3-gd.lib;vtkdoubleconversion-9.3-gd.lib;vtkexodusII-9.3-gd.lib;vtkexpat-9.3-gd.lib;vtkFiltersAMR-9.3-gd.lib;vtkFiltersCellGrid-9.3-gd.lib;vtkFiltersCore-9.3-gd.lib;vtkFiltersExtraction-9.3-gd.lib;vtkFiltersFlowPaths-9.3-gd.lib;vtkFiltersGeneral-9.3-gd.lib;vtkFiltersGeneric-9.3-gd.lib;vtkFiltersGeometry-9.3-gd.lib;vtkFiltersGeometryPreview-9.3-gd.lib;vtkFiltersHybrid-9.3-gd.lib;vtkFiltersHyperTree-9.3-gd.lib;vtkFiltersImaging-9.3-gd.lib;vtkFiltersModeling-9.3-gd.lib;vtkFiltersParallel-9.3-gd.lib;vtkFiltersParallelImaging-9.3-gd.lib;vtkFiltersPoints-9.3-gd.lib;vtkFiltersProgrammable-9.3-gd.lib;vtkFiltersReduction-9.3-gd.lib;vtkFiltersSelection-9.3-gd.lib;vtkFiltersSMP-9.3-gd.lib;vtkFiltersSources-9.3-gd.lib;vtkFiltersStatistics-9.3-gd.lib;vtkFiltersTensor-9.3-gd.lib;vtkFiltersTexture-9.3-gd.lib;vtkFiltersTopology-9.3-gd.lib;vtkFiltersVerdict-9.3-gd.lib;vtkfmt-9.3-gd.lib;vtkfreetype-9.3-gd.lib;vtkGeovisCore-9.3-gd.lib;vtkgl2ps-9.3-gd.lib;vtkglew-9.3-gd.lib;vtkhdf5-9.3-gd.lib;vtkhdf5_hl-9.3-gd.lib;vtkImagingColor-9.3-gd.lib;vtkImagingCore-9.3-gd.lib;vtkImagingFourier-9.3-gd.lib;vtkImagingGeneral-9.3-gd.lib;vtkImagingHybrid-9.3-gd.lib;vtkImagingMath-9.3-gd.lib;vtkImagingMorphological-9.3-gd.lib;vtkImagingSources-9.3-gd.lib;vtkImagingStatistics-9.3-gd.lib;vtkImagingStencil-9.3-gd.lib;vtkInfovisCore-9.3-gd.lib;vtkInfovisLayout-9.3-gd.lib;vtkInteractionImage-9.3-gd.lib;vtkInteractionStyle-9.3-gd.lib;vtkInteractionWidgets-9.3-gd.lib;vtkIOAMR-9.3-gd.lib;vtkIOAsynchronous-9.3-gd.lib;vtkIOCellGrid-9.3-gd.lib;vtkIOCesium3DTiles-9.3-gd.lib;vtkIOCGNSReader-9.3-gd.lib;vtkIOChemistry-9.3-gd.lib;vtkIOCityGML-9.3-gd.lib;vtkIOCONVERGECFD-9.3-gd.lib;vtkIOCore-9.3-gd.lib;vtkIOEnSight-9.3-gd.lib;vtkIOExodus-9.3-gd.lib;vtkIOExport-9.3-gd.lib;vtkIOExportGL2PS-9.3-gd.lib;vtkIOExportPDF-9.3-gd.lib;vtkIOFLUENTCFF-9.3-gd.lib;vtkIOGeometry-9.3-gd.lib;vtkIOHDF-9.3-gd.lib;vtkIOImage-9.3-gd.lib;vtkIOImport-9.3-gd.lib;vtkIOInfovis-9.3-gd.lib;vtkIOIOSS-9.3-gd.lib;vtkIOLegacy-9.3-gd.lib;vtkIOLSDyna-9.3-gd.lib;vtkIOMINC-9.3-gd.lib;vtkIOMotionFX-9.3-gd.lib;vtkIOMovie-9.3-gd.lib;vtkIONetCDF-9.3-gd.lib;vtkIOOggTheora-9.3-gd.lib;vtkIOParallel-9.3-gd.lib;vtkIOParallelXML-9.3-gd.lib;vtkIOPLY-9.3-gd.lib;vtkIOSegY-9.3-gd.lib;vtkIOSQL-9.3-gd.lib;vtkioss-9.3-gd.lib;vtkIOTecplotTable-9.3-gd.lib;vtkIOVeraOut-9.3-gd.lib;vtkIOVideo-9.3-gd.lib;vtkIOXML-9.3-gd.lib;vtkIOXMLParser-9.3-gd.lib;vtkjpeg-9.3-gd.lib;vtkjsoncpp-9.3-gd.lib;vtkkissfft-9.3-gd.lib;vtklibharu-9.3-gd.lib;vtklibproj-9.3-gd.lib;vtklibxml2-9.3-gd.lib;vtkloguru-9.3-gd.lib;vtklz4-9.3-gd.lib;vtklzma-9.3-gd.lib;vtkmetaio-9.3-gd.lib;vtknetcdf-9.3-gd.lib;vtkogg-9.3-gd.lib;vtkParallelCore-9.3-gd.lib;vtkParallelDIY-9.3-gd.lib;vtkpng-9.3-gd.lib;vtkpugixml-9.3-gd.lib;vtkRenderingAnnotation-9.3-gd.lib;vtkRenderingCellGrid-9.3-gd.lib;vtkRenderingContext2D-9.3-gd.lib;vtkRenderingContextOpenGL2-9.3-gd.lib;vtkRenderingCore-9.3-gd.lib;vtkRenderingFreeType-9.3-gd.lib;vtkRenderingGL2PSOpenGL2-9.3-gd.lib;vtkRenderingHyperTreeGrid-9.3-gd.lib;vtkRenderingImage-9.3-gd.lib;vtkRenderingLabel-9.3-gd.lib;vtkRenderingLICOpenGL2-9.3-gd.lib;vtkRenderingLOD-9.3-gd.lib;vtkRenderingOpenGL2-9.3-gd.lib;vtkRenderingSceneGraph-9.3-gd.lib;vtkRenderingUI-9.3-gd.lib;vtkRenderingVolume-9.3-gd.lib;vtkRenderingVolumeOpenGL2-9.3-gd.lib;vtkRenderingVtkJS-9.3-gd.lib;vtksqlite-9.3-gd.lib;vtksys-9.3-gd.lib;vtkTestingRendering-9.3-gd.lib;vtktheora-9.3-gd.lib;vtktiff-9.3-gd.lib;vtkverdict-9.3-gd.lib;vtkViewsContext2D-9.3-gd.lib;vtkViewsCore-9.3-gd.lib;vtkViewsInfovis-9.3-gd.lib;vtkWrappingTools-9.3-gd.lib;vtkzlib-9.3-gd.lib;
新建main.cpp,下面这段代码用于测试
#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/common/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;
}
直接运行会有报错
解决方案:
在“预处理器”中添加
这行代码的意思忽略警告信息
_CRT_SECURE_NO_WARNINGS
再次运行
替换成自己的pcd文件