PCL安装使用

一. 下载安装

http://pointclouds.org/downloads/windows.html

1. QT安装在默认路径下（否则后续会出现问题），添加环境变量QTDIR（c:\Qt\4.8.0），把bin文件夹添加到Path环境变量。

2. 编译ALL_BUILD，最终会因为pcl_io模块编译失败导致很多错误。解决方案：

把io\include\pcl\io\png_io.h文件报错地方”template <“的前四行注释掉，重新编译io模块
//    PCL_DEPRECATED (template <typename T> void savePNGFile (const std::string& file_name, const pcl::PointCloud<T>& cloud),
//    "pcl::io::savePNGFile<typename T> (file_name, cloud) is deprecated, please use a new generic "
//    "function pcl::io::savePNGFile (file_name, cloud, field_name) with \"rgb\" as the field name."
//    );

3. 不要把PCL安装在C盘，因为会出现Cmake没法创建文件夹的错误。

二. 使用

1.配置系统环境

a、(Optionl) 计算机-->属性-->高级系统设置。弹出系统属性框。高级-->环境变量。添加系统变量，PCL_ROOT，变量值：D:\Program Files\PCL 1.6.0

b、在系统变量Path后追加：

D:\Program Files\OpenNI\Bin;

D:\Program Files\PCL 1.6.0\bin;

D:\Program Files\PCL 1.6.0\3rdParty\FLANN\bin;

D:\Program Files\PCL 1.6.0\3rdParty\Qhull\bin;

2.工程配置

a、新建工程后，项目属性->VC++目录->包含目录 添加：

D:\Program Files\OpenNI\Include

D:\Program Files\OpenNI\Include\Win32

D:\Program Files\PCL 1.6.0\include\pcl-1.6

D:\Program Files\PCL 1.6.0\3rdParty\Boost\include

D:\Program Files\PCL 1.6.0\3rdParty\Eigen\include

D:\Program Files\PCL 1.6.0\3rdParty\FLANN\include

D:\Program Files\PCL 1.6.0\3rdParty\Qhull\include

D:\Program Files\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8

b、项目属性->VC++目录->库目录 添加：

D:\Program Files\OpenNI\Lib

D:\Program Files\PCL 1.6.0\lib

D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib

D:\Program Files\PCL 1.6.0\3rdParty\FLANN\lib

D:\Program Files\PCL 1.6.0\3rdParty\Qhull\lib

D:\Program Files\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8

c.  dubug模式，链接器->输入->附加依赖项 添加

OpenNI.lib

            opengl32.lib

            pcl_keypoints_debug.lib
            pcl_kdtree_debug.lib
            pcl_io_debug.lib
            pcl_search_debug.lib
            pcl_segmentation_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_50.lib
            libboost_filesystem-vc100-mt-gd-1_50.lib
            libboost_thread-vc100-mt-gd-1_50.lib
            libboost_date_time-vc100-mt-gd-1_50.lib
            libboost_iostreams-vc100-mt-gd-1_50.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

三. 测试图像

http://pointclouds.org/media/