一、前言
一、准备
1.安装调试好vs2010 (32位、64位均可)
2.下载pcl 安装包和PDB文件,两个文件包都是300多兆。还有一种方法是源码编译,但需要编译复杂的第三方库,这里不做介绍。文件下载网址为:http://pointclouds.org/downloads/windows.html。下载界面如下图所示:
二、安装
1安装 pcl 安装包(最好不要更改安装路径,否则会影响后面的环境配置和工程配置)
双击PCL-1.6.0-AllInOne-msvc2010-win32.exe,按照提示一步一步点集下一步即可。
安装过程中会出现安装OpenNI和PrimeSense的界面,直接点击Install即可。
3解压.PDB files压缩包,将所有pdb文件复制到:*\PCL 1.6.0\bin //*为PCL安装目录
三、环境变量配置
环境变量在安装是以自动添加,无需再重复添加。可以自行查看。
我的电脑->右键属性->高级系统设置。在系统变量里面查看和新建。
四、测试程序
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;
- }
五、配置环境
1.项目-->属性-->配置属性-->VC++目录-->包含目录 //注意检查自己的路径是否正确
添加:C:\Program Files (x86)\PCL 1.6.0\3rdParty\Boost\include
C:\Program Files (x86)\PCL 1.6.0\3rdParty\Eigen\include
C:\Program Files (x86)\PCL 1.6.0\3rdParty\FLANN\include
C:\Program Files (x86)\PCL 1.6.0\3rdParty\Qhull\include
C:\Program Files (x86)\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8
C:\Program Files (x86)\PCL 1.6.0\include\pcl-1.6
C:\Program Files (x86)\OpenNI\Include
添加:C:\Program Files (x86)\PCL 1.6.0\3rdParty\Boost\lib
C:\Program Files (x86)\PCL 1.6.0\3rdParty\Qhull\lib
C:\Program Files (x86)\PCL 1.6.0\3rdParty\FLANN\lib
C:\Program Files (x86)\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8
C:\Program Files (x86)\PCL 1.6.0\lib
C:\Program Files (x86)\OpenNI\Lib
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
六、添加my_point_cloud.pcd文件
新建txt,添加一下数据后,修改名字和后缀即可。文件和你的新建的》cpp文件放在一起即可!
- # .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
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七、运行,
转:https://blog.csdn.net/hegeneral/article/details/52489829