PCL学习备份

error:CRT detected that application wrote to memory after end of heap buffer
a:是C++程序中数组越界，用应用程序调试找越界的数组
erro:内存溢出
a:是labview开辟数组大小比C++函数输出的数组更小，拓展数组大小
优化：
1.C/C+±>优化->优化:使速度最大化 (/O2)
2.C/C+±>代码生成->运行库:多线程调试 DLL (/MDd)
3.C/C+±>所有选项->多处理器编译:是 (/MP)
4.用release
PS:注意64位和32位生成的路径有区别

error:找不到外部链接库
a:3D检测的动态链接库用到外部库（opencv的链接库），需要在3D检测的动态链接库路径中包含
opencv的动态链接库。

error:找不到资源
a:3D检测的动态链接库路径错误

error:调用库的时候闪退
a:指针错误，多留意是否是数组句柄指针设置了句柄指针，要修改回来

调用opencv
VC++目录->包含目录:
D:\桌面文件\3D外观检\ConsoleApplication改\ConsoleApplication2\opencv\include\opencv2;
D:\桌面文件\3D外观检\ConsoleApplication改\ConsoleApplication2\opencv\include\opencv;
D:\桌面文件\3D外观检\ConsoleApplication改\ConsoleApplication2\opencv\include;KaTeX parse error: Undefined control sequence: \桌 at position 71: …应的摆在前面，不建议）) D:\̲桌̲面文件\3D外观检\Conso…(LibraryPath)
链接器->输入:(后面有d的代表debug用的，没有d的代表release用的)
opencv_core2413d.lib;
opencv_highgui2413d.lib;
opencv_imgproc2413d.lib;
opencv_core2413.lib;
opencv_highgui2413.lib;
opencv_imgproc2413.lib;%(AdditionalDependencies)
PS:外部库嵌套调用，需要将所有外部库放在同一个文件夹路径下面
即是将所有dll复制到debug或者release文件下面

迭代器相当于指针
在用数组指针句柄的时候，必须开辟够足够的大小，不然会报错或者闪退
用32位系统的labview执行64位的dll函数的时候，会报该操作必须的某些系统功能未启动。

2019年10月10日17:28:40
1.pcl::io::loadPCDFile(“D:\BaiduNetdiskDownload\PCL\rabbit_gra\123.pcd”, *cloud);
loadPCDFile接受绝对路径
显示用pcl::visualization::CloudViewer视图类
pcl::visualization::CloudViewer viewer(“Cloud Viewer”);
viewer.showCloud(cloud);

2.FLANN是快速最近邻搜索包(Fast_Library_for_Approximate_Nearest_Neighbors)的简称
3.Vtk（visualization toolkit）是一个开源的免费软件系统，主要用于三维计算机图形学、图像处理和可视化。视觉化工具函数库
4.QHull (三维凸包形体生成插件)
5.Boost增强
6.Eigen矩阵处理工具
7.ICP算法 ICP(Iterative Closest Point)迭代最近点
8.&data[0] 是容器的首地址

2019年10月11日18:22:28
for (int h = 0; h < pcHead._height; h++)
{
//y方向
for (int w = 0; w < pcHead._width; w++)
{
if (h * pcHead._width + w < data.size() && data[h * pcHead._width + w] > -99000000){
DataXYZSinglePt.x = (double)w;
DataXYZSinglePt.y = (double)h;
DataXYZSinglePt.z = (double)data[h * pcHead._width + w] / 1000000.0;///(1.0*10e9);

 DataXYZ.push_back(DataXYZSinglePt);
}
      else {
DataXYZSinglePt.x = (double)w;
DataXYZSinglePt.y = (double)h;
DataXYZSinglePt.z = NAN;
             }
  }

}

2019年12月16日09:15:13
1.C++配置
VC++目录->包含目录：
C:\Program Files\PCL 1.8.0\3rdParty\Qhull\include
C:\Program Files\PCL 1.8.0\3rdParty\FLANN\include
C:\Program Files\PCL 1.8.0\3rdParty\Boost\include\boost-1_59
C:\Program Files\PCL 1.8.0\include\pcl-1.8
C:\Program Files\PCL 1.8.0\3rdParty\VTK\include\vtk-7.0
C:\Program Files\PCL 1.8.0\3rdParty\Eigen\eigen3
VC++目录->库目录：
C:\Program Files\PCL 1.8.0\3rdParty\Boost\include\boost-1_59
C:\Program Files\PCL 1.8.0\3rdParty\OpenNI2\Lib
C:\Program Files\PCL 1.8.0\lib
C:\Program Files\PCL 1.8.0\3rdParty\Boost\lib
C:\Program Files\PCL 1.8.0\3rdParty\Qhull\lib
C:\Program Files\PCL 1.8.0\3rdParty\FLANN\lib
C:\Program Files\PCL 1.8.0\3rdParty\VTK\lib
链接器->输入
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_ml_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_stereo_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
pcl_visualization_debug.lib
libboost_atomic-vc120-mt-gd-1_59.lib
libboost_chrono-vc120-mt-gd-1_59.lib
libboost_container-vc120-mt-gd-1_59.lib
libboost_context-vc120-mt-gd-1_59.lib
libboost_coroutine-vc120-mt-gd-1_59.lib
libboost_date_time-vc120-mt-gd-1_59.lib
libboost_exception-vc120-mt-gd-1_59.lib
libboost_filesystem-vc120-mt-gd-1_59.lib
libboost_graph-vc120-mt-gd-1_59.lib
libboost_iostreams-vc120-mt-gd-1_59.lib
libboost_locale-vc120-mt-gd-1_59.lib
libboost_log-vc120-mt-gd-1_59.lib
libboost_log_setup-vc120-mt-gd-1_59.lib
libboost_math_c99-vc120-mt-gd-1_59.lib
libboost_math_c99f-vc120-mt-gd-1_59.lib
libboost_math_c99l-vc120-mt-gd-1_59.lib
libboost_math_tr1-vc120-mt-gd-1_59.lib
libboost_math_tr1f-vc120-mt-gd-1_59.lib
libboost_math_tr1l-vc120-mt-gd-1_59.lib
libboost_mpi-vc120-mt-gd-1_59.lib
libboost_prg_exec_monitor-vc120-mt-gd-1_59.lib
libboost_program_options-vc120-mt-gd-1_59.lib
libboost_random-vc120-mt-gd-1_59.lib
libboost_regex-vc120-mt-gd-1_59.lib
libboost_serialization-vc120-mt-gd-1_59.lib
libboost_signals-vc120-mt-gd-1_59.lib
libboost_system-vc120-mt-gd-1_59.lib
libboost_test_exec_monitor-vc120-mt-gd-1_59.lib
libboost_thread-vc120-mt-gd-1_59.lib
libboost_timer-vc120-mt-gd-1_59.lib
libboost_unit_test_framework-vc120-mt-gd-1_59.lib
libboost_wave-vc120-mt-gd-1_59.lib
libboost_wserialization-vc120-mt-gd-1_59.lib
vtkalglib-7.0-gd.lib
vtkChartsCore-7.0-gd.lib
vtkCommonCore-7.0-gd.lib
vtkCommonColor-7.0-gd.lib
vtkCommonComputationalGeometry-7.0-gd.lib
vtkCommonDataModel-7.0-gd.lib
vtkCommonExecutionModel-7.0-gd.lib
vtkCommonMath-7.0-gd.lib
vtkCommonMisc-7.0-gd.lib
vtkCommonSystem-7.0-gd.lib
vtkCommonTransforms-7.0-gd.lib
vtkDICOMParser-7.0-gd.lib
vtkDomainsChemistry-7.0-gd.lib
vtkexoIIc-7.0-gd.lib
vtkexpat-7.0-gd.lib
vtkFiltersAMR-7.0-gd.lib
vtkFiltersCore-7.0-gd.lib
vtkFiltersExtraction-7.0-gd.lib
vtkFiltersFlowPaths-7.0-gd.lib
vtkFiltersGeneral-7.0-gd.lib
vtkFiltersGeneric-7.0-gd.lib
vtkFiltersGeometry-7.0-gd.lib
vtkFiltersHybrid-7.0-gd.lib
vtkFiltersHyperTree-7.0-gd.lib
vtkFiltersImaging-7.0-gd.lib
vtkFiltersModeling-7.0-gd.lib
vtkFiltersParallel-7.0-gd.lib
vtkFiltersParallelImaging-7.0-gd.lib
vtkFiltersProgrammable-7.0-gd.lib
vtkFiltersSelection-7.0-gd.lib
vtkFiltersSMP-7.0-gd.lib
vtkFiltersSources-7.0-gd.lib
vtkFiltersStatistics-7.0-gd.lib
vtkFiltersTexture-7.0-gd.lib
vtkFiltersVerdict-7.0-gd.lib
vtkfreetype-7.0-gd.lib
vtkGeovisCore-7.0-gd.lib
vtkhdf5-7.0-gd.lib
vtkhdf5_hl-7.0-gd.lib
vtkImagingColor-7.0-gd.lib
vtkImagingCore-7.0-gd.lib
vtkImagingFourier-7.0-gd.lib
vtkImagingGeneral-7.0-gd.lib
vtkImagingHybrid-7.0-gd.lib
vtkImagingMath-7.0-gd.lib
vtkImagingMorphological-7.0-gd.lib
vtkImagingSources-7.0-gd.lib
vtkImagingStatistics-7.0-gd.lib
vtkImagingStencil-7.0-gd.lib
vtkInfovisCore-7.0-gd.lib
vtkInfovisLayout-7.0-gd.lib
vtkInteractionImage-7.0-gd.lib
vtkInteractionStyle-7.0-gd.lib
vtkInteractionWidgets-7.0-gd.lib
vtkIOAMR-7.0-gd.lib
vtkIOCore-7.0-gd.lib
vtkIOEnSight-7.0-gd.lib
vtkIOExodus-7.0-gd.lib
vtkIOExport-7.0-gd.lib
vtkIOGeometry-7.0-gd.lib
vtkIOImage-7.0-gd.lib
vtkIOImport-7.0-gd.lib
vtkIOInfovis-7.0-gd.lib
vtkIOLegacy-7.0-gd.lib
vtkIOLSDyna-7.0-gd.lib
vtkIOMINC-7.0-gd.lib
vtkIOMovie-7.0-gd.lib
vtkIONetCDF-7.0-gd.lib
vtkIOParallel-7.0-gd.lib
vtkIOParallelXML-7.0-gd.lib
vtkIOPLY-7.0-gd.lib
vtkIOSQL-7.0-gd.lib
vtkIOVideo-7.0-gd.lib
vtkIOXML-7.0-gd.lib
vtkIOXMLParser-7.0-gd.lib
vtkjpeg-7.0-gd.lib
vtkjsoncpp-7.0-gd.lib
vtklibxml2-7.0-gd.lib
vtkmetaio-7.0-gd.lib
vtkNetCDF-7.0-gd.lib
vtkNetCDF_cxx-7.0-gd.lib
vtkoggtheora-7.0-gd.lib
vtkParallelCore-7.0-gd.lib
vtkpng-7.0-gd.lib
vtkproj4-7.0-gd.lib
vtkRenderingAnnotation-7.0-gd.lib
vtkRenderingContext2D-7.0-gd.lib
vtkRenderingContextOpenGL2-7.0-gd.lib
vtkRenderingCore-7.0-gd.lib
vtkRenderingFreeType-7.0-gd.lib
vtkRenderingImage-7.0-gd.lib
vtkRenderingLabel-7.0-gd.lib
vtkRenderingLOD-7.0-gd.lib
vtkRenderingOpenGL2-7.0-gd.lib
vtkRenderingVolume-7.0-gd.lib
vtkRenderingVolumeOpenGL2-7.0-gd.lib
vtksqlite-7.0-gd.lib
vtksys-7.0-gd.lib
vtktiff-7.0-gd.lib
vtkverdict-7.0-gd.lib
vtkViewsContext2D-7.0-gd.lib
vtkViewsCore-7.0-gd.lib
vtkViewsInfovis-7.0-gd.lib
vtkzlib-7.0-gd.lib
vtkGUISupportQt-7.0-gd.lib
vtkRenderingQt-7.0-gd.lib
vtkViewsQt-7.0-gd.lib
flann_cpp_s-gd.lib
qhullstatic-gd.lib
OpenNI2.lib
kernel32.lib
user32.lib
gdi32.lib
winspool.lib
shell32.lib
ole32.lib
oleaut32.lib
uuid.lib
comdlg32.lib
advapi32.lib
comctl32.lib
wsock32.lib
glu32.lib
opengl32.lib
ws2_32.lib
Psapi.lib
头文件包括：
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
生成文件夹中需要包含:(不用包含lib)
openNI2.dll
pcl_common_release.dll
pcl_io_ply_release.dll
pcl_io_release.dll
pcl_kdtree_release.dll
pcl_visualization_release.dll
vtkalglib-8.0.dll
vtkChartsCore-8.0.dll
vtkCommonColor-8.0.dll
vtkCommonComputationalGeometry-8.0.dll
vtkCommonCore-8.0.dll
vtkCommonDataModel-8.0.dll
vtkCommonExecutionModel-8.0.dll
vtkCommonMath-8.0.dll
vtkCommonMisc-8.0.dll
vtkCommonSystem-8.0.dll
vtkCommonTransforms-8.0.dll
vtkDICOMParser-8.0.dll
vtkFiltersCore-8.0.dll
vtkFiltersExtraction-8.0.dll
vtkFiltersGeneral-8.0.dll
vtkFiltersGeometry-8.0.dll
vtkFiltersSources-8.0.dll
vtkFiltersStatistics-8.0.dll
vtkfreetype-8.0.dll
vtkglew-8.0.dll
vtkGUISupportQt-8.0.dll
vtkImagingColor-8.0.dll
vtkImagingFourier-8.0.dll
vtkImagingGeneral-8.0.dll
vtkImagingHybrid-8.0.dll
vtkImagingSources-8.0.dll
vtkInfovisCore-8.0.dll
vtkInteractionImage-8.0.dll
vtkInteractionStyle-8.0.dll
vtkInteractionWidgets-8.0.dll
vtkIOCore-8.0.dll
vtkIOGeometry-8.0.dll
vtkIOImage-8.0.dll
vtkIOLegacy.8.0.dll
vtkIOPLY-8.0.dll
vtkjpeg.8.0.dll
vtklz4-8.0.dll
vtkmetaio-8.0.dll
vtkpng-8.0.dll
vtkRenderingAnnotation-8.0.dll
vtkRenderingContext2D-8.0.dll
vtkRenderingContextOpenGL2-8.0.dll
vtkRenderingCore-8.0.dll
vtkRenderingGL2PS-8.0.dll
vtkRenderingLOD-8.0.dll
vtkRenderingOpenGL2-8.0.dll
vtkRenderingOpenGL-8.0.dll
vtkRenderingVolume-8.0.dll
vtksys-8.0.dll
vtktiff-8.0.dll
vtkViewsContext2D-8.0.dll
vtkViewsCore-8.0.dll
vtkzlib-8.0.dll
/********************************************/
顶点缓存和索引缓存
顶点缓存是包含顶点数据的连续内存空间。
索引缓存是包含索引数据的连续内存空间。
在Direct3D中，
顶点缓存用IDirect3DVertexBuffer9表示
索引缓存用IDirect3DIndexBuffer9表示
深度缓存：
如果在同一个屏幕下绘制交叠的两个或者多个图元时，就会遇到"透支"问题
这些图元在渲染时交叠在一起，Direct3D不知道哪个图元遮住了哪个图元。
在这种情况下，如果建立了深度缓存，就可以通过深度缓存值来判断遮挡信息
深度缓存算法对于当前点(X,Y)保持到目前为止遇到的最小z值，
以求具有遇到的最小z值。
深度缓存是一个后台缓存，缓存中只存储场景深度信息，而不包括图像数据的
表面信息。绘制图元时，将图元的深度信息和深度缓存中的内容加以比较，
如果深度信息小于深度缓存中的内容，表明图元靠近视点，就更新深度缓存和颜色缓存的内容
否则表明绘制的图元远离视点，就可以抛弃那些不可见的像素。
框架：
创建了windows窗口后，首先要进行的是Direct3D接口、获取硬件设备信息、
获取Direct3D设备接口。Direct3D初始化之后进入消息循环，消息由信息处理
模块处理，然后进入3D场景的绘制，绘制完毕结束Direct3D程序
Direct3D配置：
1、VC++目录->包含目录C:Program Files\Microsoft DirectX %28June 2010%29\Lib\x86

2019年12月24日08:43:10
VTK配置
1.包括目录：
C:\Program Files %28x86%29\VTK\include\vtk-7.1\vtkverdict;C:\Program Files %28x86%29\VTK\include\vtk-7.1;KaTeX parse error: Undefined control sequence: \Program at position 22: …dePath) 库目录： C:\̲P̲r̲o̲g̲r̲a̲m̲ ̲Files %28x86%29…(LibraryPath)
链接器->输入->附加依赖项
vtkalglib-7.1.lib;vtkChartsCore-7.1.lib;vtkCommonColor-7.1.lib;vtkCommonComputationalGeometry-7.1.lib;vtkCommonCore-7.1.lib;vtkCommonDataModel-7.1.lib;vtkCommonExecutionModel-7.1.lib;vtkCommonMath-7.1.lib;vtkCommonMisc-7.1.lib;vtkCommonSystem-7.1.lib;vtkCommonTransforms-7.1.lib;vtkDICOMParser-7.1.lib;vtkDomainsChemistry-7.1.lib;vtkDomainsChemistryOpenGL2-7.1.lib;vtkexoIIc-7.1.lib;vtkexpat-7.1.lib;vtkFiltersAMR-7.1.lib;vtkFiltersCore-7.1.lib;vtkFiltersExtraction-7.1.lib;vtkFiltersFlowPaths-7.1.lib;vtkFiltersGeneral-7.1.lib;vtkFiltersGeneric-7.1.lib;vtkFiltersGeometry-7.1.lib;vtkFiltersHybrid-7.1.lib;vtkFiltersHyperTree-7.1.lib;vtkFiltersImaging-7.1.lib;vtkFiltersModeling-7.1.lib;vtkFiltersParallel-7.1.lib;vtkFiltersParallelImaging-7.1.lib;vtkFiltersPoints-7.1.lib;vtkFiltersProgrammable-7.1.lib;vtkFiltersSelection-7.1.lib;vtkFiltersSMP-7.1.lib;vtkFiltersSources-7.1.lib;vtkFiltersStatistics-7.1.lib;vtkFiltersTexture-7.1.lib;vtkFiltersVerdict-7.1.lib;vtkfreetype-7.1.lib;vtkglew-7.1.lib;vtkhdf5_hl-7.1.lib;vtkhdf5-7.1.lib;vtkImagingColor-7.1.lib;vtkImagingCore-7.1.lib;vtkImagingFourier-7.1.lib;vtkImagingGeneral-7.1.lib;vtkImagingHybrid-7.1.lib;vtkImagingMath-7.1.lib;vtkImagingSources-7.1.lib;vtkImagingStencil-7.1.lib;vtkInfovisCore-7.1.lib;vtkInteractionStyle-7.1.lib;vtkInteractionWidgets-7.1.lib;vtkIOAMR-7.1.lib;vtkIOCore-7.1.lib;vtkIOExodus-7.1.lib;vtkIOGeometry-7.1.lib;vtkIOImage-7.1.lib;vtkIOInfovis-7.1.lib;vtkIOLegacy-7.1.lib;vtkIONetCDF-7.1.lib;vtkIOParallel-7.1.lib;vtkIOXML-7.1.lib;vtkIOXMLParser-7.1.lib;vtkjpeg-7.1.lib;vtkjsoncpp-7.1.lib;vtklibxml2-7.1.lib;vtkmetaio-7.1.lib;vtkNetCDF_cxx-7.1.lib;vtkNetCDF-7.1.lib;vtkParallelCore-7.1.lib;vtkpng-7.1.lib;vtkRenderingAnnotation-7.1.lib;vtkRenderingContext2D-7.1.lib;vtkRenderingContextOpenGL2-7.1.lib;vtkRenderingCore-7.1.lib;vtkRenderingFreeType-7.1.lib;vtkRenderingLabel-7.1.lib;vtkRenderingOpenGL2-7.1.lib;vtkRenderingVolume-7.1.lib;vtkRenderingVolumeOpenGL2-7.1.lib;vtksys-7.1.lib;vtkTestingGenericBridge-7.1.lib;vtkTestingRendering-7.1.lib;vtktiff-7.1.lib;vtkverdict-7.1.lib;vtkViewsContext2D-7.1.lib;vtkViewsCore-7.1.lib;vtkzlib-7.1.lib;%(AdditionalDependencies)
exe文件夹里面放所有dll文件
程序头文件包括
#include “vtkConeSource.h”
#include “vtkPolyDataMapper.h”
#include “vtkRenderWindow.h”
#include “vtkActor.h”
#include “vtkRenderer.h”
#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkInteractionStyle);
#define VERDICT_EXPORTS
#define MAX_NODES_PER_ELEMENT 27
#define MAX_TESTS_PER_ELEMENT 20
/VTK7.1.1**********/
/VTK6.3.0**********/
包含目录：
C:\Program Files %28x86%29\VTK\include\vtk-6.3;KaTeX parse error: Undefined control sequence: \Program at position 22: …dePath) 库目录： C:\̲P̲r̲o̲g̲r̲a̲m̲ ̲Files %28x86%29…(LibraryPath)
链接器->输入：
vtkalglib-6.3.lib;vtkChartsCore-6.3.lib;vtkCommonColor-6.3.lib;vtkCommonComputationalGeometry-6.3.lib;vtkCommonCore-6.3.lib;vtkCommonDataModel-6.3.lib;vtkCommonExecutionModel-6.3.lib;vtkCommonMath-6.3.lib;vtkCommonMisc-6.3.lib;vtkCommonSystem-6.3.lib;vtkCommonTransforms-6.3.lib;vtkDICOMParser-6.3.lib;vtkDomainsChemistry-6.3.lib;vtkexoIIc-6.3.lib;vtkexpat-6.3.lib;vtkFiltersAMR-6.3.lib;vtkFiltersCore-6.3.lib;vtkFiltersExtraction-6.3.lib;vtkFiltersFlowPaths-6.3.lib;vtkFiltersGeneral-6.3.lib;vtkFiltersGeneric-6.3.lib;vtkFiltersGeometry-6.3.lib;vtkFiltersHybrid-6.3.lib;vtkFiltersHyperTree-6.3.lib;vtkFiltersImaging-6.3.lib;vtkFiltersModeling-6.3.lib;vtkFiltersParallel-6.3.lib;vtkFiltersParallelImaging-6.3.lib;vtkFiltersProgrammable-6.3.lib;vtkFiltersSelection-6.3.lib;vtkFiltersSMP-6.3.lib;vtkFiltersSources-6.3.lib;vtkFiltersStatistics-6.3.lib;vtkFiltersTexture-6.3.lib;vtkFiltersVerdict-6.3.lib;vtkfreetype-6.3.lib;vtkftgl-6.3.lib;vtkGeovisCore-6.3.lib;vtkgl2ps-6.3.lib;vtkGUISupportMFC-6.3.lib;vtkhdf5_hl-6.3.lib;vtkhdf5-6.3.lib;vtkImagingColor-6.3.lib;vtkImagingCore-6.3.lib;vtkImagingFourier-6.3.lib;vtkImagingGeneral-6.3.lib;vtkImagingHybrid-6.3.lib;vtkImagingMath-6.3.lib;vtkImagingMorphological-6.3.lib;vtkImagingSources-6.3.lib;vtkImagingStatistics-6.3.lib;vtkImagingStencil-6.3.lib;vtkInfovisCore-6.3.lib;vtkInfovisLayout-6.3.lib;vtkInteractionImage-6.3.lib;vtkInteractionStyle-6.3.lib;vtkInteractionWidgets-6.3.lib;vtkIOAMR-6.3.lib;vtkIOCore-6.3.lib;vtkIOEnSight-6.3.lib;vtkIOExodus-6.3.lib;vtkIOExport-6.3.lib;vtkIOGeometry-6.3.lib;vtkIOImage-6.3.lib;vtkIOImport-6.3.lib;vtkIOInfovis-6.3.lib;vtkIOLegacy-6.3.lib;vtkIOLSDyna-6.3.lib;vtkIOMINC-6.3.lib;vtkIOMovie-6.3.lib;vtkIONetCDF-6.3.lib;vtkIOParallel-6.3.lib;vtkIOParallelXML-6.3.lib;vtkIOPLY-6.3.lib;vtkIOSQL-6.3.lib;vtkIOVideo-6.3.lib;vtkIOXML-6.3.lib;vtkIOXMLParser-6.3.lib;vtkjpeg-6.3.lib;vtkjsoncpp-6.3.lib;vtklibxml2-6.3.lib;vtkmetaio-6.3.lib;vtkNetCDF_cxx-6.3.lib;vtkNetCDF-6.3.lib;vtkoggtheora-6.3.lib;vtkParallelCore-6.3.lib;vtkpng-6.3.lib;vtkproj4-6.3.lib;vtkRenderingAnnotation-6.3.lib;vtkRenderingContext2D-6.3.lib;vtkRenderingContextOpenGL-6.3.lib;vtkRenderingCore-6.3.lib;vtkRenderingFreeType-6.3.lib;vtkRenderingGL2PS-6.3.lib;vtkRenderingImage-6.3.lib;vtkRenderingLabel-6.3.lib;vtkRenderingLIC-6.3.lib;vtkRenderingLOD-6.3.lib;vtkRenderingOpenGL-6.3.lib;vtkRenderingVolume-6.3.lib;vtkRenderingVolumeOpenGL-6.3.lib;vtksqlite-6.3.lib;vtksys-6.3.lib;vtktiff-6.3.lib;vtkverdict-6.3.lib;vtkViewsContext2D-6.3.lib;vtkViewsCore-6.3.lib;vtkViewsGeovis-6.3.lib;vtkViewsInfovis-6.3.lib;vtkzlib-6.3.lib;%(AdditionalDependencies)
/VTK6.3.0**********/

2019年12月30日15:06:44
1.MFC显示3D
#include “vtkCylinderSource.h”
#include “vtkPolyDataMapper.h”
#include “vtkActor.h”
#include “vtkRenderer.h”
#include “vtkRenderWindow.h”
//#include “vtkRenderWindowInteractor.h”
#include “vtkProperty.h”
#include “vtkCamera.h”
#include “vtkInteractorStyleTrackballCamera.h”

#include “vtkPNGReader.h”
#include “vtkSmartPointer.h”
#include “vtkImageData.h”
#include “vtkRenderWindowInteractor.h”
#include “vtkImageViewer2.h”
#include “vtkImageActor.h”

#include “vtkAutoInit.h”
#define VERDICT_EXPORTS
#define MAX_NODES_PER_ELEMENT 27
#define MAX_TESTS_PER_ELEMENT 20

void CVTKMFCDlg::OnBnClickedButton2()
{
CString filepath = L"C:\Users\mm\Desktop\0.ecd";
USES_CONVERSION;
string s = W2A(filepath);
const char* ch = s.c_str();

PointCloudHead pchead;
vector<int> data ;
readECD(ch, data, pchead);

vtkPoints * points = vtkPoints::New();
int n = 0; int idx = 0; int Length = 3 * pchead._height * pchead._width;
double x = 0;
double y = 0;
double z = 0;
//首先读取点云数据到点表points同时指定点对应的id:
for (double i = 0.0; i < pchead._height; ++i){
	for (double j = 0.0; j < pchead._width; ++j){
		double x = j * pchead._xInterval;
		double y = i * pchead._yInterval;
		if (data[i * pchead._width + j] < -99000000)
			z = NAN;
		else
			z = data[i * pchead._width + j] / 100000.0;
		points->InsertPoint(n, x, y, z);
		n++;
	}
}
printf("%d\n", n);

vtkPolyVertex * polyvertex = vtkPolyVertex::New();
polyvertex->GetPointIds()->SetNumberOfIds(n);

int i = 0; //建立拓扑关系
for (i = 0; i < n; i++){
	polyvertex->GetPointIds()->SetId(i, i);
}

vtkUnstructuredGrid * grid = vtkUnstructuredGrid::New();
grid->SetPoints(points);
grid->InsertNextCell(polyvertex->GetCellType(),polyvertex->GetPointIds());

vtkDataSetMapper *map1 = vtkDataSetMapper::New();
map1->SetInputData(grid);

vtkActor *actor1 = vtkActor::New();
actor1->SetMapper(map1);
actor1->GetProperty()->SetColor(0.194, 0.562, 0.75); //色号


vtkRenderer *ren = vtkRenderer::New();
ren->AddActor(actor1);
ren->SetBackground(1, 1, 1);

//Win和iren分别是vtkWin32OpenGLRenderWindow, vtkWin32RenderWindowInteractor
vtkWin32RenderWindowInteractor        *iren = vtkWin32RenderWindowInteractor::New();
vtkWin32OpenGLRenderWindow             *win = vtkWin32OpenGLRenderWindow::New();
vtkInteractorStyleTrackballCamera    *style = vtkInteractorStyleTrackballCamera::New();

CWnd *viewer_Wnd;
viewer_Wnd = this->GetDlgItem(IDC_STATIC);

CRect rect;
viewer_Wnd->GetWindowRect(rect);
ScreenToClient(rect); //可以得到控件坐标

win->Clean();
double w = rect.Width();
double h = rect.Height();

win->SetSize(rect.right - rect.left, rect.bottom - rect.top);

win->SetPosition(rect.left,rect.top);
win->BordersOn();
win->AddRenderer(ren);

iren->SetRenderWindow(win);
iren->SetInteractorStyle(style);

//搭上一个显示用的MFC窗口框架。
HWND hWnd = (HWND)viewer_Wnd->m_hWnd;

HWND hParent = ::GetParent(hWnd);
::ShowWindow(hParent, SW_SHOWNORMAL);
win->SetParentId(this->m_hWnd);

iren->Start();
map1->Delete();
grid->Delete();
actor1->Delete();
polyvertex->Delete();
ren->Delete();
win->Delete();
iren->Delete();

}
/6.3.0*****/
/8.2.0*****/
C:\Program Files %28x86%29\VTK\include\vtk-8.2;KaTeX parse error: Undefined control sequence: \Program at position 17: …IncludePath) C:\̲P̲r̲o̲g̲r̲a̲m̲ ̲Files %28x86%29…(LibraryPath)
vtkChartsCore-8.2.lib;vtkCommonColor-8.2.lib;vtkCommonComputationalGeometry-8.2.lib;vtkCommonCore-8.2.lib;vtkCommonDataModel-8.2.lib;vtkCommonExecutionModel-8.2.lib;vtkCommonMath-8.2.lib;vtkCommonMisc-8.2.lib;vtkCommonSystem-8.2.lib;vtkCommonTransforms-8.2.lib;vtkDICOMParser-8.2.lib;vtkDomainsChemistry-8.2.lib;vtkDomainsChemistryOpenGL2-8.2.lib;vtkdoubleconversion-8.2.lib;vtkexodusII-8.2.lib;vtkexpat-8.2.lib;vtkFiltersAMR-8.2.lib;vtkFiltersCore-8.2.lib;vtkFiltersExtraction-8.2.lib;vtkFiltersFlowPaths-8.2.lib;vtkFiltersGeneral-8.2.lib;vtkFiltersGeneric-8.2.lib;vtkFiltersGeometry-8.2.lib;vtkFiltersHybrid-8.2.lib;vtkFiltersHyperTree-8.2.lib;vtkFiltersImaging-8.2.lib;vtkFiltersModeling-8.2.lib;vtkFiltersParallel-8.2.lib;vtkFiltersParallelImaging-8.2.lib;vtkFiltersPoints-8.2.lib;vtkFiltersProgrammable-8.2.lib;vtkFiltersSelection-8.2.lib;vtkFiltersSMP-8.2.lib;vtkFiltersSources-8.2.lib;vtkFiltersStatistics-8.2.lib;vtkFiltersTexture-8.2.lib;vtkFiltersTopology-8.2.lib;vtkFiltersVerdict-8.2.lib;vtkfreetype-8.2.lib;vtkGeovisCore-8.2.lib;vtkgl2ps-8.2.lib;vtkglew-8.2.lib;vtkGUISupportMFC-8.2.lib;vtkhdf5_hl-8.2.lib;vtkhdf5-8.2.lib;vtkImagingColor-8.2.lib;vtkImagingCore-8.2.lib;vtkImagingFourier-8.2.lib;vtkImagingGeneral-8.2.lib;vtkImagingHybrid-8.2.lib;vtkImagingMath-8.2.lib;vtkImagingMorphological-8.2.lib;vtkImagingSources-8.2.lib;vtkImagingStatistics-8.2.lib;vtkImagingStencil-8.2.lib;vtkInfovisCore-8.2.lib;vtkInfovisLayout-8.2.lib;vtkInteractionImage-8.2.lib;vtkInteractionStyle-8.2.lib;vtkInteractionWidgets-8.2.lib;vtkIOAMR-8.2.lib;vtkIOAsynchronous-8.2.lib;vtkIOCityGML-8.2.lib;vtkIOCore-8.2.lib;vtkIOEnSight-8.2.lib;vtkIOExodus-8.2.lib;vtkIOExport-8.2.lib;vtkIOExportOpenGL2-8.2.lib;vtkIOExportPDF-8.2.lib;vtkIOGeometry-8.2.lib;vtkIOImage-8.2.lib;vtkIOImport-8.2.lib;vtkIOInfovis-8.2.lib;vtkIOLegacy-8.2.lib;vtkIOLSDyna-8.2.lib;vtkIOMINC-8.2.lib;vtkIOMovie-8.2.lib;vtkIONetCDF-8.2.lib;vtkIOParallelXML-8.2.lib;vtkIOPLY-8.2.lib;vtkIOSegY-8.2.lib;vtkIOSQL-8.2.lib;vtkIOTecplotTable-8.2.lib;vtkIOVeraOut-8.2.lib;vtkIOVideo-8.2.lib;vtkIOXML-8.2.lib;vtkIOXMLParser-8.2.lib;vtkjpeg-8.2.lib;vtkjsoncpp-8.2.lib;vtklibharu-8.2.lib;vtklibxml2-8.2.lib;vtkLocalExample-8.2.lib;vtklz4-8.2.lib;vtklzma-8.2.lib;vtkmetaio-8.2.lib;vtkNetCDF-8.2.lib;vtkogg-8.2.lib;vtkParallelCore-8.2.lib;vtkpng-8.2.lib;vtkproj-8.2.lib;vtkpugixml-8.2.lib;vtkRenderingAnnotation-8.2.lib;vtkRenderingContext2D-8.2.lib;vtkRenderingContextOpenGL2-8.2.lib;vtkRenderingCore-8.2.lib;vtkRenderingFreeType-8.2.lib;vtkRenderingGL2PSOpenGL2-8.2.lib;vtkRenderingImage-8.2.lib;vtkRenderingLabel-8.2.lib;vtkRenderingLOD-8.2.lib;vtkRenderingOpenGL2-8.2.lib;vtkRenderingVolume-8.2.lib;vtkRenderingVolumeOpenGL2-8.2.lib;vtksqlite-8.2.lib;vtksys-8.2.lib;vtktheora-8.2.lib;vtktiff-8.2.lib;vtkverdict-8.2.lib;vtkViewsContext2D-8.2.lib;vtkViewsCore-8.2.lib;vtkViewsInfovis-8.2.lib;vtkzlib-8.2.lib;%(AdditionalDependencies)
/8.2.0*****/

2019年12月31日10:03:21
1.
几何结构：描述了对象的空间位置关系（比如，要画一个三角形，首先需要指定三角形的三个顶点坐标P1,P2,P3，在VTK中指定点用PointData）
拓扑结构：描述了对象的构成形式（比如，上面所说的三个顶点P1,P2,P3在不指定拓扑关系的时候，有很多种组织形式，
比如，三个孤立的点，比如一条直线加一个孤立的点，或者是一段折线，但是指定了拓扑结构，比如说按照P1-P2-P3的顺序用直线连接起来，
那么他就是一个三角形，vtk用单元数据来描述拓扑结构）

2020年1月2日11:43:55
1.VTK的渲染引擎和可视化管线
(Visualization pipeline) ( Rendering Engine)
Source->filter->mapper ->actor-> render->renderwindow

SetInputConnection() -> GetOutPort()
数据并没有真正的在管线里流动，只有在目标的Update()函数
数据才会流动
但是通常不显式调用Update()，因为在Rendering Engine最后，
当调用Render()函数时，会一层一层地向下请求Update。如果
中间需要某些信息，则需显式地调用该方法

两种交互方式：
1、vtkInteractorStyleTrackballCamera：相当于移动摄像头，按键，屏幕上的所有内容都会动起来。
2、vtkInteractorStyleTrackballActor：相当于实体对象，当鼠标在某一个对象上按键时，只有这个对象会动。

以文本文件格式读取并存到一个vtkPoints( )，然后放入vtkPolyData( )，最后使用vtkVertexGlyphFilter( )显示。
程序主要用到以下类：
vtkPoints( ) vtkPolyData( ) vtkVertexGlyphFilter( )
vtkPoints( )负责点云数据的存储和操作，
vtkPolyData（）可以用来保存点、线、面，
vtkVertexGlyphFilter（）用来加快点云处理速度。

4.freopen(“CONOUT$”, “w+t”, stdout); //这段用于在MFC中显示控制台
5.
specular，镜面的
diffuse，漫射的
interact，交互 v
uniform，统一的
snippet，一小条
attenuation，衰减 n
animation，动画
attenuation，注解
eigen，本征的，固有的
symmetric，对称的
homogeneous，同种类的
perpendicular，垂直的
normalize，归一化

6.renderer可以add多个Actor
在render之前有一个需要显示，都需要重新建立管道

7.两种方式显示特殊图元：
1.通过polydata中转
auto planeSource = vtkSmartPointer::New();
planeSource->SetCenter(1.0,0.0,0.0)
planeSource->SetNormal(1.0,0.0,1.0);
planeSource->Update();//这个必须要update
auto polyData = planeSource->GetOutput();

auto mapper = vtkSmartPointer::New();
mapper->SetInputData(polyData);
2.通过管道
auto planeSource = vtkSmartPointer::New();
planeSource->SetCenter(1.0,0.0,0.0)
planeSource->SetNormal(1.0,0.0,1.0);
//不需要update()
auto mapper = vtkSmartPointer::New();
mapper->SetInputConnection(planeSource->GetOutput());

2020年2月11日23:30:17
1.
interactor->SetRenderWindow(renderWindow);和renderWindow->SetInteractor(interactor);的作用是一样的

2.可以渲染多次
即可以render多次

2020年3月9日08:47:42
1.
boost
Eigen
FLANN
VTK
Qt
QHull
OpenNI

2.程序数据库(PDB)   文件保存着调试和项目状态信息，使用这些信息可以对程序的调试配置进行增量  
  链接。当用/ZI   或/Zi   编译C/C++   程序时或用/debug   编译Visual   Basic/C#/JScript   .NET   程序  
时将创建PDB   文件。

安装PCL时候
warning : PATH too long to unable to create the path可以忽略
或者直接在前面不选择创建Path
但是要自己手动添加path
环境变量如下:
%PCL_ROOT:C:\Program Files\PCL 1.8.0
Path:
C:\Program Files\PCL 1.8.0\bin
C:\Program Files\PCL 1.8.0\3rdParty\VTK\bin
C:\Program Files\PCL 1.8.0\3rdParty\FLANN\bin
C:\Program Files\PCL 1.8.0\3rdParty\Qhull\bin
C:\Program Files\PCL 1.8.0\3rdParty\OpenNI2\Tools

4.问题一般由Debug版本下的宏定义引起。

调试版本中 MFC 定义一个将 new 运算符扩展到带两个额外参数的重载 新 运算符预处理器宏。 额外的参数是源代码文件名称和代码行版本号。MFC 可以使用此信息向程序员在调试模式下报告内存泄漏。 这适用于 MFC 类因为 MFC 提供的新接受额外的参数的重载。但是，因为此展开通过在预处理器，它会影响所有使用 new 运算符。 如果在项目中使用任何非MFC 类， 新的运算符也会扩展。这样会导致重载过new运算符的非MFC类无法正确创建。简单的解决办法的是添加#undef new。