Windows 8 64位系统 在VS2010 32位软件上 搭建 PCL点云库 开发环境

下载PCL For windows 软件包

到这个网站下载PCL-All-In-One Installer:http://pointclouds.org/downloads/windows.html

这里写图片描述

为什么要使用Windows MSVC 2010 (32bit)?因为我们使用的是VS2010软件,所以我们使用MSVC 2010,又因为,我用的VS2010软件是32位版的Visual Studio,所以我们下载这个Windows MSVC 2010 (32bit)。
如何知道你的VS2010是32位的:
这里写图片描述

安装PCL-All-In-One Installer

双击启动刚刚下载的PCL-1.6.0-AllInOne-msvc2010-win32.exe文件,开始安装:(傻瓜式安装)

选择不添加PCL到环境变量里面。(因为后面,我们手动添加)
这里写图片描述

注意: PCL和接下来自动安装的OpenNI PrimeSense Sensor KinectModPCL库都要安装在默认路径(C:\Program Files (x86))里面。
(2016-7-9 20:03:25 但是我刚刚在Win10上配置环境,PCL可以成功安装,但是OpenNI还是没有成功安装,虽然OpenNI并不是PCL必须需要的依赖包,是可选择的,但是我们还是需要它,它不行成功被安装。如果你安装OpenNI PrimeSense Sensor KinectModPCL库失败,安装PCL库显示成功,那么,你可以在这里(我的百度云)下载OpenNI PrimeSense Sensor KinectModPCL库,点击安装,也是一样,默认安装目录。)

这里写图片描述

安装PCL过程中,会自动安装OpenNI库,使用默认的安装路径:
这里写图片描述
自动安装PrimeSense Sensor KinectModPCL库,使用默认的安装路径:
这里写图片描述

解释:为什么要安装到默认路径:PCL库你可以不安装在默认的路径,但是OpenNI PrimeSense Sensor KinectModPCL必须要安装在默认的路径。如果你不这样做,比如你选择将OpenNI PrimeSense Sensor KinectModPCL安装到D盘,那么安装可能会不成功,会出现下面的情况:
这里写图片描述

添加环境变量

在环境变量里面新建一个变量,

变量名:PCL_ROOT
变量值:C:\Program Files (x86)\PCL 1.6.0
这里写图片描述

再在Path里面添加:

C:\Program Files (x86)\OpenNI\Bin;%PCL_ROOT%\bin;%PCL_ROOT%\3rdParty\FLANN\bin;%PCL_ROOT%\3rdParty\Qhull\bin;

这里写图片描述

这样环境变量就都添加完毕。

给VS2010 软件配置:包含目录,库目录 和 附加依赖项

新建一个Win32 控制台应用程序工程,在工程里面新建一个cpp文件:cloud_viewer.cpp
C:\Program Files (x86)\PCL 1.6.0\share\doc\pcl-1.6\tutorials\sources\cloud_viewer路径里的cloud_viewer.cpp里的代码复制到你新建的工程里面:

#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;
}

在VS2010软件的左边栏,选择:属性管理器->’你的工程名’->Debug|Win32->Microsoft.Cpp.Win32.user

1. 添加 包含目录

通用属性 -> VC++目录,选择里面的 包含目录。添加下面的这些目录:
这里写图片描述

注意:一定要将”从父类或项目默认设置继承“这个勾选框选中。

2. 添加 库目录

通用属性 -> VC++目录,选择里面的 库目录。添加下面的这些目录:
这里写图片描述

3. 添加 附加依赖项

通用属性 -> 链接器 -> 输入,选择里面的附加依赖项。将下面的这些依赖项复制过去:

opengl32.lib
pcl_apps_debug.lib
pcl_kdtree_debug.lib
pcl_keypoints_debug.lib
pcl_io_debug.lib
pcl_io_ply_debug.lib
pcl_octree_debug.lib
pcl_registration_debug.lib
pcl_search_debug.lib
pcl_surface_debug.lib
pcl_segmentation_debug.lib
pcl_apps_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_tracking_debug.lib
pcl_visualization_debug.lib
pcl_common_debug.lib
pcl_sample_consensus_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

都搞定之后,点击应用确定

运行程序,测试环境是否搭建成功

程序里需要打开一个mypointcloud.pcd文件
在你的工程的cloud_viewer.cpp目录下,新建一个mypointcloud.pcd文件,并用记事本打开,复制粘贴下面的文本:

# .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
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-0.18716 -0.20571 0 4.808e+06
-0.18369 -0.23729 0 4.808e+06

现在编译你的程序,并试着运行:
这里写图片描述

大功告成!

注意事项

如果你编译程序是出现了下面的问题:
这里写图片描述
这说明,你没有将包含目录里面的”从父类或项目默认设置继承“这个勾选框选中,只要你选中它,就可以解决这个问题。


参考网站:
http://blog.csdn.net/JerryandQilin/article/details/43272231
http://bbs.csdn.net/topics/370039216
http://blog.csdn.net/renshengrumenglibing/article/details/9073675