VS2010配置PCL1.6.0

VS2010配置PCL1.6.0

一、PCL+VS2010安装与环境配置
电脑环境参数：
*** 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://sourceforge.net/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 FilesPCL 1.6.03rdPartyBoostinclude
C:Program FilesPCL 1.6.03rdPartyEigeninclude
C:Program FilesPCL 1.6.03rdPartyFLANNinclude
C:Program FilesPCL 1.6.03rdPartyQhullinclude
C:Program FilesPCL 1.6.03rdPartyVTKincludevtk-5.8
C:Program FilesPCL 1.6.0includepcl-1.6
C:Program FilesOpenNIInclude

项目右击—>属性—>链接器—>常规—>附加库目录：

C:Program FilesPCL 1.6.03rdPartyBoostlib
C:Program FilesPCL 1.6.03rdPartyQhulllib
C:Program FilesPCL 1.6.03rdPartyFLANNlib
C:Program FilesPCL 1.6.03rdPartyVTKlibvtk-5.8
C:Program FilesPCL 1.6.0lib
C:Program FilesOpenNILib

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 
#include 
#include 
#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
0.89264 0.21174 0 4.2108e+06
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
0.8102 0.29315 0 4.2108e+06
0.75504 0.29765 0 4.2108e+06
0.8102 0.24399 0 4.2108e+06
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-0.40551 0.32178 0 4.2108e+06
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-0.10653 -0.02428 0 4.808e+06
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-0.10653 -0.03515 0 4.808e+06
-0.16036 -0.037257 0 4.808e+06
0.0083286 -0.1259 0 4.2108e+06
0.0007442 -0.15603 0 4.2108e+06
-0.1741 -0.17381 0 4.808e+06
-0.18502 -0.02954 0 4.808e+06
-0.20707 -0.056403 0 4.808e+06
-0.23348 -0.07764 0 4.808e+06
-0.2244 -0.10653 0 4.808e+06
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-0.20734 -0.15641 0 4.808e+06
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0.0061083 -0.18729 0 4.2108e+06
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-0.10306 -0.28653 0 4.808e+06
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-0.18716 -0.20571 0 4.808e+06
-0.18369 -0.23729 0 4.808e+06

运行结果如下：

测试程序2

#include 
#include 
#include 
#include 
#include 
#include 

#include
#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;
}