转：PCL+VS2010环境配置

1、下载

http://www.pointclouds.org/downloads/windows.html出下载PCL完全安装包1.6.0 all-in-one-installer，我的电脑是32位的选择Windows MSVC 2010 (32bit)

2、安装

安装在了

D:\Program Files\PCL\

3、配置环境变量

添加环境变量PCL_ROOT

D:\Program Files\PCL\

系统路径path后添加：

D:\Program Files\OpenNI\Bin;%PCL_ROOT%\bin;%PCL_ROOT%\3rdParty\FLANN\bin;%PCL_ROOT%\3rdParty\Qhull\bin;

4、新建工程

新建Win32控制台应用程序，空工程，拷贝源文件

D:\Program Files\PCL\share\doc\pcl-1.6\tutorials\sources\cloud_viewer\cloud_viewer.cpp

到工程目录下，添加到工程

cloud_viewer.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 = ;

     o.z = ;

     viewer.addSphere (o, 0.25, "sphere", );

     std::cout << "i only run once" << std::endl;

 }

 void

 viewerPsycho (pcl::visualization::PCLVisualizer& viewer)

 {

     static unsigned count = ;

     std::stringstream ss;

     ss << "Once per viewer loop: " << count++;

     viewer.removeShape ("text", );

     viewer.addText (ss.str(), , , "text", );

     //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 ;

 }

5、配置工程

你可以把安装目录D:\Program Files\PCL\改成自己的安装目录 项目属性->VC++目录->包含目录 添加

D:\Program Files\PCL\3rdParty\Boost\include;D:\Program Files\PCL\3rdParty\Eigen\include;D:\Program Files\PCL\3rdParty\Flann\include;D:\Program Files\PCL\3rdParty\Qhull\include;D:\Program Files\PCL\3rdParty\VTK\include\vtk-5.8;C:\Program Files\OpenNI\Include;D:\Program Files\PCL\include\pcl-1.6;

项目属性->VC++目录->库目录 添加

D:\Program Files\PCL\3rdParty\Boost\lib;D:\Program Files\PCL\3rdParty\Qhull\lib;D:\Program Files\PCL\3rdParty\FLANN\lib;D:\Program Files\PCL\3rdParty\VTK\lib\vtk-5.8;D:\Program Files\PCL\lib;C:\Program Files\OpenNI\Lib;

dubug模式，链接器->输入->附加依赖项 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

正常情况下，此时是可以编译通过的，但是执行时找不到mypointcloud.pcd文件，创建mypointcloud.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

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6、执行效果

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