官方地址参考: 地址
环境配置参考: 地址
===========
首先要下载PCL的安装包: 地址
安装完包括OPENNI后就可以配置环境啦~
包含目录
C:\Program Files\PCL 1.8.1\include\pcl-1.8
C:\Program Files\PCL 1.8.1\3rdParty\Boost\include\boost-1_64
C:\Program Files\PCL 1.8.1\3rdParty\Eigen\eigen3
C:\Program Files\PCL 1.8.1\3rdParty\FLANN\include
C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\OPENNI\Include
C:\Program Files\PCL 1.8.1\3rdParty\Qhull\include
C:\Program Files\PCL 1.8.1\3rdParty\VTK\include\vtk-8.0
库目录
C:\Program Files\PCL 1.8.1\lib
C:\Program Files\PCL 1.8.1\3rdParty\Boost\lib
C:\Program Files\PCL 1.8.1\3rdParty\FLANN\lib
C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\OPENNI\Lib
C:\Program Files\PCL 1.8.1\3rdParty\Qhull\lib
C:\Program Files\PCL 1.8.1\3rdParty\VTK\lib
连接器-输入(debug模式)
vtknetcdf_c++-gd.lib
pcl_common_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_io_ply_debug.lib
pcl_io_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-vc141-mt-gd-1_64.lib
libboost_bzip2-vc141-mt-gd-1_64.lib
libboost_chrono-vc141-mt-gd-1_64.lib
libboost_container-vc141-mt-gd-1_64.lib
libboost_context-vc141-mt-gd-1_64.lib
libboost_coroutine-vc141-mt-gd-1_64.lib
libboost_date_time-vc141-mt-gd-1_64.lib
libboost_exception-vc141-mt-gd-1_64.lib
libboost_fiber-vc141-mt-gd-1_64.lib
libboost_filesystem-vc141-mt-gd-1_64.lib
libboost_graph-vc141-mt-gd-1_64.lib
libboost_graph_parallel-vc141-mt-gd-1_64.lib
libboost_iostreams-vc141-mt-gd-1_64.lib
libboost_locale-vc141-mt-gd-1_64.lib
libboost_log-vc141-mt-gd-1_64.lib
libboost_log_setup-vc141-mt-gd-1_64.lib
libboost_math_c99-vc141-mt-gd-1_64.lib
libboost_math_c99f-vc141-mt-gd-1_64.lib
libboost_math_c99l-vc141-mt-gd-1_64.lib
libboost_math_tr1-vc141-mt-gd-1_64.lib
libboost_math_tr1f-vc141-mt-gd-1_64.lib
libboost_math_tr1l-vc141-mt-gd-1_64.lib
libboost_mpi-vc141-mt-gd-1_64.lib
libboost_numpy3-vc141-mt-gd-1_64.lib
libboost_numpy-vc141-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib
libboost_program_options-vc141-mt-gd-1_64.lib
libboost_python3-vc141-mt-gd-1_64.lib
libboost_python-vc141-mt-gd-1_64.lib
libboost_random-vc141-mt-gd-1_64.lib
libboost_regex-vc141-mt-gd-1_64.lib
libboost_serialization-vc141-mt-gd-1_64.lib
libboost_signals-vc141-mt-gd-1_64.lib
libboost_system-vc141-mt-gd-1_64.lib
libboost_test_exec_monitor-vc141-mt-gd-1_64.lib
libboost_thread-vc141-mt-gd-1_64.lib
libboost_timer-vc141-mt-gd-1_64.lib
libboost_type_erasure-vc141-mt-gd-1_64.lib
libboost_unit_test_framework-vc141-mt-gd-1_64.lib
libboost_wave-vc141-mt-gd-1_64.lib
libboost_wserialization-vc141-mt-gd-1_64.lib
libboost_zlib-vc141-mt-gd-1_64.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
qhull_d.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_r_d.lib
qhull_p_d.lib
qhull_r_d.lib
vtkalglib-8.0-gd.lib
vtkChartsCore-8.0-gd.lib
vtkCommonColor-8.0-gd.lib
vtkCommonComputationalGeometry-8.0-gd.lib
vtkCommonCore-8.0-gd.lib
vtkCommonDataModel-8.0-gd.lib
vtkCommonExecutionModel-8.0-gd.lib
vtkCommonMath-8.0-gd.lib
vtkCommonMisc-8.0-gd.lib
vtkCommonSystem-8.0-gd.lib
vtkCommonTransforms-8.0-gd.lib
vtkDICOMParser-8.0-gd.lib
vtkDomainsChemistry-8.0-gd.lib
vtkexoIIc-8.0-gd.lib
vtkexpat-8.0-gd.lib
vtkFiltersAMR-8.0-gd.lib
vtkFiltersCore-8.0-gd.lib
vtkFiltersExtraction-8.0-gd.lib
vtkFiltersFlowPaths-8.0-gd.lib
vtkFiltersGeneral-8.0-gd.lib
vtkFiltersGeneric-8.0-gd.lib
vtkFiltersGeometry-8.0-gd.lib
vtkFiltersHybrid-8.0-gd.lib
vtkFiltersHyperTree-8.0-gd.lib
vtkFiltersImaging-8.0-gd.lib
vtkFiltersModeling-8.0-gd.lib
vtkFiltersParallel-8.0-gd.lib
vtkFiltersParallelImaging-8.0-gd.lib
vtkFiltersPoints-8.0-gd.lib
vtkFiltersProgrammable-8.0-gd.lib
vtkFiltersSelection-8.0-gd.lib
vtkFiltersSMP-8.0-gd.lib
vtkFiltersSources-8.0-gd.lib
vtkFiltersStatistics-8.0-gd.lib
vtkFiltersTexture-8.0-gd.lib
vtkFiltersTopology-8.0-gd.lib
vtkFiltersVerdict-8.0-gd.lib
vtkfreetype-8.0-gd.lib
vtkGeovisCore-8.0-gd.lib
vtkgl2ps-8.0-gd.lib
vtkhdf5-8.0-gd.lib
vtkhdf5_hl-8.0-gd.lib
vtkImagingColor-8.0-gd.lib
vtkImagingCore-8.0-gd.lib
vtkImagingFourier-8.0-gd.lib
vtkImagingGeneral-8.0-gd.lib
vtkImagingHybrid-8.0-gd.lib
vtkImagingMath-8.0-gd.lib
vtkImagingMorphological-8.0-gd.lib
vtkImagingSources-8.0-gd.lib
vtkImagingStatistics-8.0-gd.lib
vtkImagingStencil-8.0-gd.lib
vtkInfovisCore-8.0-gd.lib
vtkInfovisLayout-8.0-gd.lib
vtkInteractionImage-8.0-gd.lib
vtkInteractionStyle-8.0-gd.lib
vtkInteractionWidgets-8.0-gd.lib
vtkIOAMR-8.0-gd.lib
vtkIOCore-8.0-gd.lib
vtkIOEnSight-8.0-gd.lib
vtkIOExodus-8.0-gd.lib
vtkIOExport-8.0-gd.lib
vtkIOExportOpenGL-8.0-gd.lib
vtkIOGeometry-8.0-gd.lib
vtkIOImage-8.0-gd.lib
vtkIOImport-8.0-gd.lib
vtkIOInfovis-8.0-gd.lib
vtkIOLegacy-8.0-gd.lib
vtkIOLSDyna-8.0-gd.lib
vtkIOMINC-8.0-gd.lib
vtkIOMovie-8.0-gd.lib
vtkIONetCDF-8.0-gd.lib
vtkIOParallel-8.0-gd.lib
vtkIOParallelXML-8.0-gd.lib
vtkIOPLY-8.0-gd.lib
vtkIOSQL-8.0-gd.lib
vtkIOTecplotTable-8.0-gd.lib
vtkIOVideo-8.0-gd.lib
vtkIOXML-8.0-gd.lib
vtkIOXMLParser-8.0-gd.lib
vtkjpeg-8.0-gd.lib
vtkjsoncpp-8.0-gd.lib
vtklibharu-8.0-gd.lib
vtklibxml2-8.0-gd.lib
vtklz4-8.0-gd.lib
vtkmetaio-8.0-gd.lib
vtkNetCDF-8.0-gd.lib
vtkoggtheora-8.0-gd.lib
vtkParallelCore-8.0-gd.lib
vtkpng-8.0-gd.lib
vtkproj4-8.0-gd.lib
vtkRenderingAnnotation-8.0-gd.lib
vtkRenderingContext2D-8.0-gd.lib
vtkRenderingContextOpenGL-8.0-gd.lib
vtkRenderingCore-8.0-gd.lib
vtkRenderingFreeType-8.0-gd.lib
vtkRenderingGL2PS-8.0-gd.lib
vtkRenderingImage-8.0-gd.lib
vtkRenderingLabel-8.0-gd.lib
vtkRenderingLIC-8.0-gd.lib
vtkRenderingLOD-8.0-gd.lib
vtkRenderingOpenGL-8.0-gd.lib
vtkRenderingVolume-8.0-gd.lib
vtkRenderingVolumeOpenGL-8.0-gd.lib
vtksqlite-8.0-gd.lib
vtksys-8.0-gd.lib
vtktiff-8.0-gd.lib
vtkverdict-8.0-gd.lib
vtkViewsContext2D-8.0-gd.lib
vtkViewsCore-8.0-gd.lib
vtkViewsInfovis-8.0-gd.lib
vtkzlib-8.0-gd.lib
opengl32.lib
SDL检查改为否
C/C++ - 预处理定义
_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS
如果报语法错误(为了兼容VC8的那三行,注释掉那三行源码即可)
官网的代码:
#include <iostream>
#include <string>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
#include <pcl/registration/icp.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/console/time.h> // TicToc
typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<PointT> PointCloudT;
bool next_iteration = false;
void
print4x4Matrix(const Eigen::Matrix4d & matrix)
{
printf("Rotation matrix :\n");
printf(" | %6.3f %6.3f %6.3f | \n", matrix(0, 0), matrix(0, 1), matrix(0, 2));
printf("R = | %6.3f %6.3f %6.3f | \n", matrix(1, 0), matrix(1, 1), matrix(1, 2));
printf(" | %6.3f %6.3f %6.3f | \n", matrix(2, 0), matrix(2, 1), matrix(2, 2));
printf("Translation vector :\n");
printf("t = < %6.3f, %6.3f, %6.3f >\n\n", matrix(0, 3), matrix(1, 3), matrix(2, 3));
}
void
keyboardEventOccurred(const pcl::visualization::KeyboardEvent& event,
void* nothing)
{
if (event.getKeySym() == "space" && event.keyDown())
next_iteration = true;
}
int
main(int argc,
char* argv[])
{
// The point clouds we will be using
PointCloudT::Ptr cloud_in(new PointCloudT); // Original point cloud
PointCloudT::Ptr cloud_tr(new PointCloudT); // Transformed point cloud
PointCloudT::Ptr cloud_icp(new PointCloudT); // ICP output point cloud
/* // Checking program arguments
if (argc < 2)
{
printf("Usage :\n");
printf("\t\t%s file.ply number_of_ICP_iterations\n", argv[0]);
PCL_ERROR("Provide one ply file.\n");
system("pause");
return (-1);
}*/
int iterations = 20; // Default number of ICP iterations
/*
if (argc > 2)
{
// If the user passed the number of iteration as an argument
iterations = atoi(argv[2]);
if (iterations < 1)
{
PCL_ERROR("Number of initial iterations must be >= 1\n");
system("pause");
return (-1);
}
}*/
pcl::console::TicToc time;
time.tic();
if (pcl::io::loadPLYFile("cat-2.ply", *cloud_in) < 0)
{
PCL_ERROR("Error loading cloud %s.\n", "dragon.ply");
system("pause");
return (-1);
}
std::cout << "\nLoaded file " << "dragon.ply" << " (" << cloud_in->size() << " points) in " << time.toc() << " ms\n" << std::endl;
// Defining a rotation matrix and translation vector
Eigen::Matrix4d transformation_matrix = Eigen::Matrix4d::Identity();
// A rotation matrix (see https://en.wikipedia.org/wiki/Rotation_matrix)
double theta = M_PI / 8; // The angle of rotation in radians
transformation_matrix(0, 0) = cos(theta);
transformation_matrix(0, 1) = -sin(theta);
transformation_matrix(1, 0) = sin(theta);
transformation_matrix(1, 1) = cos(theta);
// A translation on Z axis (0.4 meters)
transformation_matrix(2, 3) = 0.4;
// Display in terminal the transformation matrix
std::cout << "Applying this rigid transformation to: cloud_in -> cloud_icp" << std::endl;
print4x4Matrix(transformation_matrix);
// Executing the transformation
pcl::transformPointCloud(*cloud_in, *cloud_icp, transformation_matrix);
*cloud_tr = *cloud_icp; // We backup cloud_icp into cloud_tr for later use
// The Iterative Closest Point algorithm
time.tic();
pcl::IterativeClosestPoint<PointT, PointT> icp;
icp.setMaximumIterations(iterations);
icp.setInputSource(cloud_icp);
icp.setInputTarget(cloud_in);
icp.align(*cloud_icp);
icp.setMaximumIterations(1); // We set this variable to 1 for the next time we will call .align () function
std::cout << "Applied " << iterations << " ICP iteration(s) in " << time.toc() << " ms" << std::endl;
if (icp.hasConverged())
{
std::cout << "\nICP has converged, score is " << icp.getFitnessScore() << std::endl;
std::cout << "\nICP transformation " << iterations << " : cloud_icp -> cloud_in" << std::endl;
transformation_matrix = icp.getFinalTransformation().cast<double>();
print4x4Matrix(transformation_matrix);
}
else
{
PCL_ERROR("\nICP has not converged.\n");
system("pause");
return (-1);
}
// Visualization
pcl::visualization::PCLVisualizer viewer("ICP demo");
// Create two vertically separated viewports
int v1(0);
int v2(1);
viewer.createViewPort(0.0, 0.0, 0.5, 1.0, v1);
viewer.createViewPort(0.5, 0.0, 1.0, 1.0, v2);
// The color we will be using
float bckgr_gray_level = 0.0; // Black
float txt_gray_lvl = 1.0 - bckgr_gray_level;
// Original point cloud is white
pcl::visualization::PointCloudColorHandlerCustom<PointT> cloud_in_color_h(cloud_in, (int)255 * txt_gray_lvl, (int)255 * txt_gray_lvl,
(int)255 * txt_gray_lvl);
viewer.addPointCloud(cloud_in, cloud_in_color_h, "cloud_in_v1", v1);
viewer.addPointCloud(cloud_in, cloud_in_color_h, "cloud_in_v2", v2);
// Transformed point cloud is green
pcl::visualization::PointCloudColorHandlerCustom<PointT> cloud_tr_color_h(cloud_tr, 20, 180, 20);
viewer.addPointCloud(cloud_tr, cloud_tr_color_h, "cloud_tr_v1", v1);
// ICP aligned point cloud is red
pcl::visualization::PointCloudColorHandlerCustom<PointT> cloud_icp_color_h(cloud_icp, 180, 20, 20);
viewer.addPointCloud(cloud_icp, cloud_icp_color_h, "cloud_icp_v2", v2);
// Adding text descriptions in each viewport
viewer.addText("White: Original point cloud\nGreen: Matrix transformed point cloud", 10, 15, 16, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, "icp_info_1", v1);
viewer.addText("White: Original point cloud\nRed: ICP aligned point cloud", 10, 15, 16, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, "icp_info_2", v2);
std::stringstream ss;
ss << iterations;
std::string iterations_cnt = "ICP iterations = " + ss.str();
viewer.addText(iterations_cnt, 10, 60, 16, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, "iterations_cnt", v2);
// Set background color
viewer.setBackgroundColor(bckgr_gray_level, bckgr_gray_level, bckgr_gray_level, v1);
viewer.setBackgroundColor(bckgr_gray_level, bckgr_gray_level, bckgr_gray_level, v2);
// Set camera position and orientation
viewer.setCameraPosition(-3.68332, 2.94092, 5.71266, 0.289847, 0.921947, -0.256907, 0);
viewer.setSize(1280, 1024); // Visualiser window size
// Register keyboard callback :
viewer.registerKeyboardCallback(&keyboardEventOccurred, (void*)NULL);
// Display the visualiser
while (!viewer.wasStopped())
{
viewer.spinOnce();
// The user pressed "space" :
if (next_iteration)
{
// The Iterative Closest Point algorithm
time.tic();
icp.align(*cloud_icp);
std::cout << "Applied 1 ICP iteration in " << time.toc() << " ms" << std::endl;
if (icp.hasConverged())
{
printf("\033[11A"); // Go up 11 lines in terminal output.
printf("\nICP has converged, score is %+.0e\n", icp.getFitnessScore());
std::cout << "\nICP transformation " << ++iterations << " : cloud_icp -> cloud_in" << std::endl;
transformation_matrix *= icp.getFinalTransformation().cast<double>(); // WARNING /!\ This is not accurate! For "educational" purpose only!
print4x4Matrix(transformation_matrix); // Print the transformation between original pose and current pose
ss.str("");
ss << iterations;
std::string iterations_cnt = "ICP iterations = " + ss.str();
viewer.updateText(iterations_cnt, 10, 60, 16, txt_gray_lvl, txt_gray_lvl, txt_gray_lvl, "iterations_cnt");
viewer.updatePointCloud(cloud_icp, cloud_icp_color_h, "cloud_icp_v2");
}
else
{
PCL_ERROR("\nICP has not converged.\n");
system("pause");
return (-1);
}
}
next_iteration = false;
}
system("pause");
return (0);
}
ply模型可以自己随便下个,233,我这里用的 地址 里的几个模型,还不错。
最后结果: