VS2010+PCL配置

原文出自（转载）： http://blog.csdn.net/renshengrumenglibing/article/details/9073675

1、安装

pcl 的完全安装包可以到： http://pointclouds.org/downloads/windows.html 下载。然后进行安装，我的编译器是32位的，我下载的是vs2010 32bit的。

然后将pcl安装到 路径下了

D:\Program Files\PCL 1.6.0

同时安装的路径下有：

D:\Program Files\OpenNI
D:\Program Files\PrimeSense

2、环境变量配置

添加环境变量PCL_ROOT

D:\Program Files\PCL 1.6.0

然后在path环境变量下添加：

D:\Program Files\OpenNI\Bin;%PCL_ROOT%\bin;%PCL_ROOT%\3rdParty\FLANN\bin;%PCL_ROOT%\3rdParty\Qhull\bin;

3、新建一个空的工程

新建文件 main.cpp

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/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;
}

4、配置工程

1、项目--->属性--->配置属性--->vc++目录

包含目配置：

D:\Program Files\PCL\3rdParty\Boost\include;
D:\Program Files\PCL\3rdParty\Eigen\include;
D:\Program Files\PCL\3rdParty\Flann\include;
D:\Program Files\PCL\3rdParty\Qhull\include;
D:\Program Files\PCL\3rdParty\VTK\include\vtk-5.8;
D:\Program Files\OpenNI\Include;
D:\Program Files\PCL\include\pcl-1.6;

项目属性->VC++目录->库目录

库目录配置：

D:\Program Files\PCL\3rdParty\Boost\lib;
D:\Program Files\PCL\3rdParty\Qhull\lib;
D:\Program Files\PCL\3rdParty\FLANN\lib;
D:\Program Files\PCL\3rdParty\VTK\lib\vtk-5.8;
D:\Program Files\PCL\lib;
D:\Program Files\OpenNI\Lib;

 

dubug模式，链接器->输入->附加依赖项 添加:

 

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

 

此时环境已经搭建完毕，编译程序可以通过了，添加一个运行时需要的文件 my_point_cloud.pcd 就可以了

文件内容具体如下：

# .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
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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
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5、执行结果