vs2010 安装pcl_VS2010+PCL1.6.0+1.7.2(Win7 64位)安装教程 - u013094443的博客 - C...

一、PCL+VS2010安装与环境配置电脑环境参数：操作系统：Win7 64bit VS版本：Visual Studio2010 64bit Chinese Ultimate 安装包版本：PCL 1.6.0 All-In-One Installer、PDB files PCL下载下载链接： https://www.sxzhongrui.com/projects/pointclouds/files/1.6.0/PCL-1.6.0-AllInOne-msvc2010-win64.exe/download

完成安装

二、新建工程配置文件，项目右击—>属性—>C/C++—>附加包含目录

C:\Program Files\PCL 1.6.0\3rdParty\Boost\include

C:\Program Files\PCL 1.6.0\3rdParty\Eigen\include

C:\Program Files\PCL 1.6.0\3rdParty\FLANN\include

C:\Program Files\PCL 1.6.0\3rdParty\Qhull\include

C:\Program Files\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8

C:\Program Files\PCL 1.6.0\include\pcl-1.6

C:\Program Files\OpenNI\Include

项目右击—>属性—>链接器—>常规—>附加库目录：

C:\Program Files\PCL 1.6.0\3rdParty\Boost\lib

C:\Program Files\PCL 1.6.0\3rdParty\Qhull\lib

C:\Program Files\PCL 1.6.0\3rdParty\FLANN\lib

C:\Program Files\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8

C:\Program Files\PCL 1.6.0\lib

C:\Program Files\OpenNI\Lib

链接器->输入->附加依赖项

opengl32.lib

pcl_kdtree_debug.lib

pcl_io_debug.lib

pcl_search_debug.lib

pcl_segmentation_debug.lib

pcl_apps_debug.lib

pcl_features_debug.lib

pcl_filters_debug.lib

pcl_visualization_debug.lib

pcl_common_debug.lib

flann_cpp_s-gd.lib

libboost_system-vc100-mt-gd-1_47.lib

libboost_filesystem-vc100-mt-gd-1_47.lib

libboost_thread-vc100-mt-gd-1_47.lib

libboost_date_time-vc100-mt-gd-1_47.lib

libboost_iostreams-vc100-mt-gd-1_47.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

编写程序

#include

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::Ptr cloud (new pcl::PointCloud);

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;

}

添加my_point_cloud.pcd文件

# .PCD v.7 - Point Cloud Data file format

VERSION .7

FIELDS x y z rgb

SIZE 4 4 4 4

TYPE F F F F

COUNT 1 1 1 1

WIDTH 213

HEIGHT 1

VIEWPOINT 0 0 0 1 0 0 0

POINTS 213

DATA ascii

0.93773 0.33763 0 4.2108e+06

0.90805 0.35641 0 4.2108e+06

0.81915 0.32 0 4.2108e+06

0.97192 0.278 0 4.2108e+06

0.944 0.29474 0 4.2108e+06

0.98111 0.24247 0 4.2108e+06

0.93655 0.26143 0 4.2108e+06

0.91631 0.27442 0 4.2108e+06

0.81921 0.29315 0 4.2108e+06

0.90701 0.24109 0 4.2108e+06

0.83239 0.23398 0 4.2108e+06

0.99185 0.2116 0 4.2108e+06

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0.85082 0.21212 0 4.2108e+06

0.81044 0.32222 0 4.2108e+06

0.74459 0.32192 0 4.2108e+06

0.69927 0.32278 0 4.2108e+06

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0.75504 0.29765 0 4.2108e+06

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0.74995 0.24723 0 4.2108e+06

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运行结果如下：测试程序2

#include

using namespace cv;

using namespace std;

int main()

{//柱型点云测试

cout << "Test PCL !" << endl;

pcl::PointCloud::Ptr point_cloud_ptr (new pcl::PointCloud);

uint8_t r(255), g(15), b(15);

for (float z(-1.0); z <= 1.0; z += 0.05) {//制作柱型点云集

for (float angle(0.0); angle <= 360.0; angle += 5.0) {

pcl::PointXYZRGB point;

point.x = cos (pcl::deg2rad(angle));

point.y = sin (pcl::deg2rad(angle));

point.z = z;

uint32_t rgb = (static_cast(r) << 16 | static_cast(g) << 8 | static_cast(b));

point.rgb = *reinterpret_cast(&rgb);

point_cloud_ptr->points.push_back (point);

}

if (z < 0.0) {//颜色渐变

r -= 12;

g += 12;

}

else {

g -= 12;

b += 12;

}

point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();

point_cloud_ptr->height = 1;

pcl::visualization::CloudViewer viewer ("pcl—test测试");

viewer.showCloud(point_cloud_ptr);

while (!viewer.wasStopped()){ };

waitKey(1000);

system("pause");

return 0;

}

? ? ? ?之前在自己的笔记本上（win7 32位系统）安装过PCL1.6.0，但是今天在台式机上（win7 64位）按照那个教程没有成功，后来摸索了一下，运行测试用例通过了，希望给需要的朋友一点点帮助吧！（由于CSDN对资源大小有限制，所以传到360云盘吧）

1. 将这两个资源下载之后放在自己所建工程的同一级目录下面；

PCL1.6.0：http://www.sxzhongrui.com/cHGwBSMbDEi6P 访问密码 ebba

PCL1.7.2：http://www.sxzhongrui.com/cHGwEDahFSxH8 访问密码 bb69

2. 属性页面设置：

2.1 Properties->VC++ Directories->Include Directories:

..\..\PCL 1.6.0\3rdParty\Boost\include

..\..\PCL 1.7.2\include

..\..\PCL 1.6.0\3rdParty\Eigen\include

..\..\PCL 1.6.0\3rdParty\FLANN\include

..\..\PCL 1.6.0\3rdParty\Qhull\include

..\..\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8

2.2 Properties->VC++ Directories->Library Directories:

..\..\PCL 1.6.0\3rdParty\Boost\lib

..\..\PCL 1.7.2\lib

..\..\PCL 1.6.0\3rdParty\FLANN\lib

..\..\PCL 1.6.0\3rdParty\Qhull\lib

..\..\PCL 1.6.0\3rdParty\Eigen\bin

..\..\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8

2.3 Properties->Configuration Manager->Active Solution platform->New->X64(三维引擎好像都要做这个设置)

(这一步非常重要，不要忘记)

3. 拷贝下面的dll到工程目录\X64\debug目录下（从PCL1.6.0和PCL1.7.2的bin文件夹下面找）

pcl_apps_debug.dll pcl_common_debug.dll pcl_features_debug.dll pcl_filters_debug.dll pcl_geometry_debug.dll pcl_io_debug.dll pcl_io_ply_debug.dll pcl_kdtree_debug.dll pcl_keypoints_debug.dll pcl_octree_debug.dll pcl_outofcore_debug.dll pcl_people_debug.dll pcl_recognition_debug.dll pcl_registration_debug.dll pcl_sample_consensus_debug.dll pcl_search_debug.dll pcl_segmentation_debug.dll pcl_surface_debug.dll pcl_tracking_debug.dll pcl_visualization_debug.dll vtkalglib.dll vtkCommon.dll vtkDICOMParser.dll vtkexoIIc.dll vtkexpat.dll vtkFiltering.dll vtkfreetype.dll vtkftgl.dll vtkGraphics.dll vtkHybrid.dll vtkImaging.dll vtkInfovis.dll vtkIO.dll vtkjpeg.dll vtklibxml2.dll vtkmetaio.dll vtkMFC.dll vtkNetCDF.dll vtkNetCDF_cxx.dll vtkpng.dll vtkRendering.dll vtksys.dll vtktiff.dll vtkverdict.dll vtkWidgets.dll vtkzlib.dll

4. 新建一个.h文件，将需要包含的头文件和lib文件统统写在这个文件里面，记得将这个新建的.h文件添加进工程

//PclHeader.h

#pragma once

#include

/*#include */

#include

typedef pcl::PointXYZ PointT;

typedef pcl::PointCloud PointCloud;

typedef pcl::PointNormal PointNormalT;

typedef pcl::PointCloud PointCloudWithNormals;

//加载LIB文件

#ifdef _DEBUG

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_apps_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_common_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_features_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_filters_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_io_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_io_ply_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_kdtree_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_keypoints_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_octree_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_registration_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_sample_consensus_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_search_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_segmentation_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_surface_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_tracking_debug.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_visualization_debug.lib")

#else

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_apps_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_common_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_features_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_filters_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_io_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_io_ply_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_kdtree_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_keypoints_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_octree_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_registration_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_sample_consensus_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_search_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_segmentation_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_surface_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_tracking_release.lib")

#pragma comment (lib, "../../PCL 1.7.2/lib/pcl_visualization_release.lib")

#endif