PCL1.8.0+VS2013环境配置

2023-11-06

一、PCL环境配置

1.下载PCL-1.8.0-AllInOne-msvc2013-win32exe和PCL-1.8.0-AllInOne-msvc2013-win32exe-pdb然后解压，配置环境变量PATH：

下载链接：

https://pan.baidu.com/s/1BxAd7zBYOdaVkc-2XeAZAQ 密码：7gzb

https://pan.baidu.com/s/17X0tAL7jkAm-GQzBIEsqWw 密码：6faq

2.在安装PCL一键安装包时，勾选上Add PCL to system PATH for all users。安装过程中，会弹出OpenNI的安装程序，更改OpenNI的安装路径为你安装的PCL路径下的3rdParty文件夹下的OpenNI2文件夹中。

3. 拷贝与安装PCL版本对应的PDB压缩包解压后的PDB文件，到你PCL安装路径下的bin文件夹，就是里面有pcl开头的dll的那个文件夹。

4.建立一个工程配置PCL，可以建一个属性表，方便以后都不用再配置，也可以单独给一个工程配。
项目属性->VC++目录->包含目录添加
C:\Program Files (x86)\PCL 1.8.0\3rdParty\OpenNI2\Include
C:\Program Files (x86)\PCL 1.8.0\include\pcl-1.8
C:\Program Files (x86)\PCL 1.8.0\3rdParty\Boost\include\boost-1_59
C:\Program Files (x86)\PCL 1.8.0\3rdParty\Eigen\eigen3
C:\Program Files (x86)\PCL 1.8.0\3rdParty\FLANN\include
C:\Program Files (x86)\PCL 1.8.0\3rdParty\Qhull\include
C:\Program Files (x86)\PCL 1.8.0\3rdParty\VTK\include\vtk-7.0

5.库目录：
C:\Program Files (x86)\PCL 1.8.0\lib
C:\Program Files (x86)\PCL 1.8.0\3rdParty\Boost\lib
C:\Program Files (x86)\PCL 1.8.0\3rdParty\FLANN\lib
C:\Program Files (x86)\PCL 1.8.0\3rdParty\Qhull\lib
C:\Program Files (x86)\PCL 1.8.0\3rdParty\VTK\lib

C:\Program Files (x86)\PCL 1.8.0\3rdParty\OpenNI2\Lib

附加依赖项：

pcl_common_debug.lib

pcl_features_debug.lib

pcl_filters_debug.lib

pcl_io_debug.lib

pcl_io_ply_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-vc120-mt-gd-1_59.lib

libboost_chrono-vc120-mt-gd-1_59.lib

libboost_container-vc120-mt-gd-1_59.lib

libboost_context-vc120-mt-gd-1_59.lib

libboost_coroutine-vc120-mt-gd-1_59.lib

libboost_date_time-vc120-mt-gd-1_59.lib

libboost_exception-vc120-mt-gd-1_59.lib

libboost_filesystem-vc120-mt-gd-1_59.lib

libboost_graph-vc120-mt-gd-1_59.lib

libboost_iostreams-vc120-mt-gd-1_59.lib

libboost_locale-vc120-mt-gd-1_59.lib

libboost_log-vc120-mt-gd-1_59.lib

libboost_log_setup-vc120-mt-gd-1_59.lib

libboost_math_c99-vc120-mt-gd-1_59.lib

libboost_math_c99f-vc120-mt-gd-1_59.lib

libboost_math_c99l-vc120-mt-gd-1_59.lib

libboost_math_tr1-vc120-mt-gd-1_59.lib

libboost_math_tr1f-vc120-mt-gd-1_59.lib

libboost_math_tr1l-vc120-mt-gd-1_59.lib

libboost_mpi-vc120-mt-gd-1_59.lib

libboost_prg_exec_monitor-vc120-mt-gd-1_59.lib

libboost_program_options-vc120-mt-gd-1_59.lib

libboost_random-vc120-mt-gd-1_59.lib

libboost_regex-vc120-mt-gd-1_59.lib

libboost_serialization-vc120-mt-gd-1_59.lib

libboost_signals-vc120-mt-gd-1_59.lib

libboost_system-vc120-mt-gd-1_59.lib

libboost_test_exec_monitor-vc120-mt-gd-1_59.lib

libboost_thread-vc120-mt-gd-1_59.lib

libboost_timer-vc120-mt-gd-1_59.lib

libboost_unit_test_framework-vc120-mt-gd-1_59.lib

libboost_wave-vc120-mt-gd-1_59.lib

libboost_wserialization-vc120-mt-gd-1_59.lib

vtkalglib-7.0-gd.lib

vtkChartsCore-7.0-gd.lib

vtkCommonCore-7.0-gd.lib

vtkCommonColor-7.0-gd.lib

vtkCommonComputationalGeometry-7.0-gd.lib

vtkCommonDataModel-7.0-gd.lib

vtkCommonExecutionModel-7.0-gd.lib

vtkCommonMath-7.0-gd.lib

vtkCommonMisc-7.0-gd.lib

vtkCommonSystem-7.0-gd.lib

vtkCommonTransforms-7.0-gd.lib

vtkDICOMParser-7.0-gd.lib

vtkDomainsChemistry-7.0-gd.lib

vtkexoIIc-7.0-gd.lib

vtkexpat-7.0-gd.lib

vtkFiltersAMR-7.0-gd.lib

vtkFiltersCore-7.0-gd.lib

vtkFiltersExtraction-7.0-gd.lib

vtkFiltersFlowPaths-7.0-gd.lib

vtkFiltersGeneral-7.0-gd.lib

vtkFiltersGeneric-7.0-gd.lib

vtkFiltersGeometry-7.0-gd.lib

vtkFiltersHybrid-7.0-gd.lib

vtkFiltersHyperTree-7.0-gd.lib

vtkFiltersImaging-7.0-gd.lib

vtkFiltersModeling-7.0-gd.lib

vtkFiltersParallel-7.0-gd.lib

vtkFiltersParallelImaging-7.0-gd.lib

vtkFiltersProgrammable-7.0-gd.lib

vtkFiltersSelection-7.0-gd.lib

vtkFiltersSMP-7.0-gd.lib

vtkFiltersSources-7.0-gd.lib

vtkFiltersStatistics-7.0-gd.lib

vtkFiltersTexture-7.0-gd.lib

vtkFiltersVerdict-7.0-gd.lib

vtkfreetype-7.0-gd.lib

vtkGeovisCore-7.0-gd.lib

vtkhdf5-7.0-gd.lib

vtkhdf5_hl-7.0-gd.lib

vtkImagingColor-7.0-gd.lib

vtkImagingCore-7.0-gd.lib

vtkImagingFourier-7.0-gd.lib

vtkImagingGeneral-7.0-gd.lib

vtkImagingHybrid-7.0-gd.lib

vtkImagingMath-7.0-gd.lib

vtkImagingMorphological-7.0-gd.lib

vtkImagingSources-7.0-gd.lib

vtkImagingStatistics-7.0-gd.lib

vtkImagingStencil-7.0-gd.lib

vtkInfovisCore-7.0-gd.lib

vtkInfovisLayout-7.0-gd.lib

vtkInteractionImage-7.0-gd.lib

vtkInteractionStyle-7.0-gd.lib

vtkInteractionWidgets-7.0-gd.lib

vtkIOAMR-7.0-gd.lib

vtkIOCore-7.0-gd.lib

vtkIOEnSight-7.0-gd.lib

vtkIOExodus-7.0-gd.lib

vtkIOExport-7.0-gd.lib

vtkIOGeometry-7.0-gd.lib

vtkIOImage-7.0-gd.lib

vtkIOImport-7.0-gd.lib

vtkIOInfovis-7.0-gd.lib

vtkIOLegacy-7.0-gd.lib

vtkIOLSDyna-7.0-gd.lib

vtkIOMINC-7.0-gd.lib

vtkIOMovie-7.0-gd.lib

vtkIONetCDF-7.0-gd.lib

vtkIOParallel-7.0-gd.lib

vtkIOParallelXML-7.0-gd.lib

vtkIOPLY-7.0-gd.lib

vtkIOSQL-7.0-gd.lib

vtkIOVideo-7.0-gd.lib

vtkIOXML-7.0-gd.lib

vtkIOXMLParser-7.0-gd.lib

vtkjpeg-7.0-gd.lib

vtkjsoncpp-7.0-gd.lib

vtklibxml2-7.0-gd.lib

vtkmetaio-7.0-gd.lib

vtkNetCDF-7.0-gd.lib

vtkNetCDF_cxx-7.0-gd.lib

vtkoggtheora-7.0-gd.lib

vtkParallelCore-7.0-gd.lib

vtkpng-7.0-gd.lib

vtkproj4-7.0-gd.lib

vtkRenderingAnnotation-7.0-gd.lib

vtkRenderingContext2D-7.0-gd.lib

vtkRenderingContextOpenGL2-7.0-gd.lib

vtkRenderingCore-7.0-gd.lib

vtkRenderingFreeType-7.0-gd.lib

vtkRenderingImage-7.0-gd.lib

vtkRenderingLabel-7.0-gd.lib

vtkRenderingLOD-7.0-gd.lib

vtkRenderingOpenGL2-7.0-gd.lib

vtkRenderingVolume-7.0-gd.lib

vtkRenderingVolumeOpenGL2-7.0-gd.lib

vtksqlite-7.0-gd.lib

vtksys-7.0-gd.lib

vtktiff-7.0-gd.lib

vtkverdict-7.0-gd.lib

vtkViewsContext2D-7.0-gd.lib

vtkViewsCore-7.0-gd.lib

vtkViewsInfovis-7.0-gd.lib

vtkzlib-7.0-gd.lib

vtkGUISupportQt-7.0-gd.lib

vtkRenderingQt-7.0-gd.lib

vtkViewsQt-7.0-gd.lib

flann_cpp_s-gd.lib

qhullstatic-gd.lib

OpenNI2.lib

kernel32.lib

user32.lib

gdi32.lib

winspool.lib

shell32.lib

ole32.lib

oleaut32.lib

uuid.lib

comdlg32.lib

advapi32.lib

comctl32.lib

wsock32.lib

glu32.lib

opengl32.lib

ws2_32.lib

Psapi.lib

二、PCL测试代码

#include "stdafx.h"
#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);
                   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");
	     viewer.showCloud(cloud);
	     viewer.runOnVisualizationThreadOnce(viewerOneOff);
    	     viewer.runOnVisualizationThread(viewerPsycho);
while (!viewer.wasStopped())
		     {
		          user_data++;
		    }
	    return 0;
	 }

效果图如下：

本文内容由网友自发贡献，版权归原作者所有，本站不承担相应法律责任。如您发现有涉嫌抄袭侵权的内容，请联系:hwhale#tublm.com(使用前将#替换为@)

PCL