《PCL点云库学习&VS2010(X64)》Part 1 Installation of PCL in VS2010(x64)

《PCL点云库学习&VS2010(X64)》Part 1  Installation of PCL in VS2010(x64)                                                    

一、PCL+VS2010安装与环境配置

我的电脑环境参数：

操作系统：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

1、官方下载地址：http://www.pointclouds.org/downloads/windows.html，下载PCL完全安装包1.6.0 all-in-one-installer和PDB file，我的电脑是64位的选择Windows MSVC 2010 (64bit)

注：1.6.0 all-in-one-installer不支持Qt,需要Qt支持的得下载各个独立的安装包才能在Qt中运行。

2、安装：双击PCL-1.6.0-AllInOne-msvc2010-win64.exe经行傻瓜式安装，中间有需要更改安装路径的自己动手改一下，这个过程中会提示安装几个第三方软件：Eigen、Boost、Qhull、Flann、VTK、OpenNI、PrimeScene。改路径时放在一个相同的大文件夹里，方便查找。

下图一是安装后在Program Files中产生的三个文件夹；

下图二是安装后3rdParty文件夹中的六个第三方软件生成的文件夹。

3、将pcl-1.6.0-pdb-msvc2010-win64.zip解压，并把解压文件复制到安装好的PCL目录下的bin文件夹中，以实现后期但不PCL源码调试，至此就在Win7 、VS2010等64位的环境下配置好了PCL的安装环境。

4、配置环境变量

计算机—>右击—>属性—>高级系统设计—>环境变量—>系统变量：（变量  PCL_ROOT ）（值   d:\Program Files\PCL 1.6.0）

系统路径path后添加（我这有点重复，自己认真看看，重复的可以不要，但是加上也没什么影响）：

D:\Program Files\OpenNI\Bin64;D:\Program Files\PCL 1.6.0\bin;D:\Program Files (x86)\Microsoft Visual Studio\VC98\include;D:\Program Files\PCL 1.6.0\3rdParty\Eigen\include;D:\Program Files\PCL 1.6.0\3rdParty\Boost\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;D:\Program Files\OpenNI\Include;D:\Program Files\PCL 1.6.0\include\pcl-1.6;D:\Program Files\OpenNI\Lib64;D:\Program Files\PCL 1.6.0\lib;D:\Program Files\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8;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\Boost\lib;D:\Program Files\OpenNI\Bin64;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;D:\Program Files\PCL 1.6.0\3rdParty\Eigen\bin;D:\Program Files\PCL 1.6.0\3rdParty\VTK\bin

二、新建工程并测试安装环境

1、新建Win32控制台应用程序，空工程，拷贝源文件，文件路径如下所示，自己在电脑的安装目录下找。

D:\Program Files\PCL 1.6.0\share\doc\pcl-1.6\tutorials\sources\cloud_viewer.cpp

2、到工程目录下，添加到工

程，源文件如下，懒得找的人可以拷贝到自己的.cpp文件下。

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 = 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;}

3、配置工程：主要包括添加include文件夹、lib文件夹和添加.lib库文件

（1）添加include文件夹

你可以把安装目录D:\Program Files\PCL 1.6.0\改成自己的安装目录  项目右击—>属性—>C/C++—>附加包含目录：

Include：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;D:\Program Files\OpenNI\Include;D:\Program Files\PCL 1.6.0\include\pcl-1.6

（当然，你也可以在项目属性->VC++目录->包含目录 添加上述路径，二选一，效果一样）

（2）添加bin文件夹

 项目右击—>属性—>链接器—>常规—>附加库目录：

lib：——注意<span style="color:#ff0000;">OpenNI\Lib64</span>D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib;D:\Program Files\PCL 1.6.0\3rdParty\Qhull\lib;D:\Program Files\PCL 1.6.0\3rdParty\FLANN\lib;D:\Program Files\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8;D:\Program Files\PCL 1.6.0\lib;D:\Program Files\OpenNI\Lib64

（当然，你也可以在项目属性->VC++目录->库目录  添加上述路径，二选一，效果一样）

（3）添加.lib库文件

dubug模式，链接器->输入->附加依赖项 添加(注意和Lib文件夹下的.lib文件比对，一般后缀带_debug和_gd的为调试模式)：

opengl32.libpcl_kdtree_debug.libpcl_io_debug.libpcl_search_debug.libpcl_segmentation_debug.libpcl_apps_debug.libpcl_features_debug.libpcl_filters_debug.libpcl_visualization_debug.libpcl_common_debug.libflann_cpp_s-gd.liblibboost_system-vc100-mt-gd-1_47.liblibboost_filesystem-vc100-mt-gd-1_47.liblibboost_thread-vc100-mt-gd-1_47.liblibboost_date_time-vc100-mt-gd-1_47.liblibboost_iostreams-vc100-mt-gd-1_47.libvtkalglib-gd.libvtkCharts-gd.libvtkCommon-gd.libvtkDICOMParser-gd.libvtkexoIIc-gd.libvtkexpat-gd.libvtkFiltering-gd.libvtkfreetype-gd.libvtkftgl-gd.libvtkGenericFiltering-gd.libvtkGeovis-gd.libvtkGraphics-gd.libvtkhdf5-gd.libvtkHybrid-gd.libvtkImaging-gd.libvtkInfovis-gd.libvtkIO-gd.libvtkjpeg-gd.libvtklibxml2-gd.libvtkmetaio-gd.libvtkNetCDF-gd.libvtkNetCDF_cxx-gd.libvtkpng-gd.libvtkproj4-gd.libvtkRendering-gd.libvtksqlite-gd.libvtksys-gd.libvtktiff-gd.libvtkverdict-gd.libvtkViews-gd.libvtkVolumeRendering-gd.libvtkWidgets-gd.libvtkzlib-gd.lib

4、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，我们需要自己创建mypointcloud.pcd文件

用记事本新建一个记事本文件，打开后，复制下列代码，然后保存，保存好以后再重命名为mypointcloud.pcd，后缀.pcd要带上

# .PCD v.7 - Point Cloud Data file formatVERSION .7FIELDS x y z rgbSIZE 4 4 4 4TYPE F F F FCOUNT 1 1 1 1WIDTH 213HEIGHT 1VIEWPOINT 0 0 0 1 0 0 0POINTS 213DATA ascii0.93773 0.33763 0 4.2108e+060.90805 0.35641 0 4.2108e+060.81915 0.32 0 4.2108e+060.97192 0.278 0 4.2108e+060.944 0.29474 0 4.2108e+060.98111 0.24247 0 4.2108e+060.93655 0.26143 0 4.2108e+060.91631 0.27442 0 4.2108e+060.81921 0.29315 0 4.2108e+060.90701 0.24109 0 4.2108e+060.83239 0.23398 0 4.2108e+060.99185 0.2116 0 4.2108e+060.89264 0.21174 0 4.2108e+060.85082 0.21212 0 4.2108e+060.81044 0.32222 0 4.2108e+060.74459 0.32192 0 4.2108e+060.69927 0.32278 0 4.2108e+060.8102 0.29315 0 4.2108e+060.75504 0.29765 0 4.2108e+060.8102 0.24399 0 4.2108e+060.74995 0.24723 0 4.2108e+060.68049 0.29768 0 4.2108e+060.66509 0.29002 0 4.2108e+060.69441 0.2526 0 4.2108e+060.62807 0.22187 0 4.2108e+060.58706 0.32199 0 4.2108e+060.52125 0.31955 0 4.2108e+060.49351 0.32282 0 4.2108e+060.44313 0.32169 0 4.2108e+060.58678 0.2929 0 4.2108e+060.53436 0.29164 0 4.2108e+060.59308 0.24134 0 4.2108e+060.5357 0.2444 0 4.2108e+060.50043 0.31235 0 4.2108e+060.44107 0.29711 0 4.2108e+060.50727 0.22193 0 4.2108e+060.43957 0.23976 0 4.2108e+060.8105 0.21112 0 4.2108e+060.73555 0.2114 0 4.2108e+060.69907 0.21082 0 4.2108e+060.63327 0.21154 0 4.2108e+060.59165 0.21201 0 4.2108e+060.52477 0.21491 0 4.2108e+060.49375 0.21006 0 4.2108e+060.4384 0.19632 0 4.2108e+060.43425 0.16052 0 4.2108e+060.3787 0.32173 0 4.2108e+060.33444 0.3216 0 4.2108e+060.23815 0.32199 0 4.808e+060.3788 0.29315 0 4.2108e+060.33058 0.31073 0 4.2108e+060.3788 0.24399 0 4.2108e+060.30249 0.29189 0 4.2108e+060.23492 0.29446 0 4.808e+060.29465 0.24399 0 4.2108e+060.23514 0.24172 0 4.808e+060.18836 0.32277 0 4.808e+060.15992 0.32176 0 4.808e+060.08642 0.32181 0 4.808e+060.039994 0.32283 0 4.808e+060.20039 0.31211 0 4.808e+060.1417 0.29506 0 4.808e+060.20921 0.22332 0 4.808e+060.13884 0.24227 0 4.808e+060.085123 0.29441 0 4.808e+060.048446 0.31279 0 4.808e+060.086957 0.24399 0 4.808e+060.3788 0.21189 0 4.2108e+060.29465 0.19323 0 4.2108e+060.23755 0.19348 0 4.808e+060.29463 0.16054 0 4.2108e+060.23776 0.16054 0 4.808e+060.19016 0.21038 0 4.808e+060.15704 0.21245 0 4.808e+060.08678 0.21169 0 4.808e+060.012746 0.32168 0 4.808e+06-0.075715 0.32095 0 4.808e+06-0.10622 0.32304 0 4.808e+06-0.16391 0.32118 0 4.808e+060.00088411 0.29487 0 4.808e+06-0.057568 0.29457 0 4.808e+06-0.0034333 0.24399 0 4.808e+06-0.055185 0.24185 0 4.808e+06-0.10983 0.31352 0 4.808e+06-0.15082 0.29453 0 4.808e+06-0.11534 0.22049 0 4.808e+06-0.15155 0.24381 0 4.808e+06-0.1912 0.32173 0 4.808e+06-0.281 0.3185 0 4.808e+06-0.30791 0.32307 0 4.808e+06-0.33854 0.32148 0 4.808e+06-0.21248 0.29805 0 4.808e+06-0.26372 0.29905 0 4.808e+06-0.22562 0.24399 0 4.808e+06-0.25035 0.2371 0 4.808e+06-0.29941 0.31191 0 4.808e+06-0.35845 0.2954 0 4.808e+06-0.29231 0.22236 0 4.808e+06-0.36101 0.24172 0 4.808e+06-0.0034393 0.21129 0 4.808e+06-0.07306 0.21304 0 4.808e+06-0.10579 0.2099 0 4.808e+06-0.13642 0.21411 0 4.808e+06-0.22562 0.19323 0 4.808e+06-0.24439 0.19799 0 4.808e+06-0.22591 0.16041 0 4.808e+06-0.23466 0.16082 0 4.808e+06-0.3077 0.20998 0 4.808e+06-0.3413 0.21239 0 4.808e+06-0.40551 0.32178 0 4.2108e+06-0.50568 0.3218 0 4.2108e+06-0.41732 0.30844 0 4.2108e+06-0.44237 0.28859 0 4.2108e+06-0.41591 0.22004 0 4.2108e+06-0.44803 0.24236 0 4.2108e+06-0.50623 0.29315 0 4.2108e+06-0.50916 0.24296 0 4.2108e+06-0.57019 0.22334 0 4.2108e+06-0.59611 0.32199 0 4.2108e+06-0.65104 0.32199 0 4.2108e+06-0.72566 0.32129 0 4.2108e+06-0.75538 0.32301 0 4.2108e+06-0.59653 0.29315 0 4.2108e+06-0.65063 0.29315 0 4.2108e+06-0.59478 0.24245 0 4.2108e+06-0.65063 0.24399 0 4.2108e+06-0.70618 0.29525 0 4.2108e+06-0.76203 0.31284 0 4.2108e+06-0.70302 0.24183 0 4.2108e+06-0.77062 0.22133 0 4.2108e+06-0.41545 0.21099 0 4.2108e+06-0.45004 0.19812 0 4.2108e+06-0.4475 0.1673 0 4.2108e+06-0.52031 0.21236 0 4.2108e+06-0.55182 0.21045 0 4.2108e+06-0.5965 0.21131 0 4.2108e+06-0.65064 0.2113 0 4.2108e+06-0.72216 0.21286 0 4.2108e+06-0.7556 0.20987 0 4.2108e+06-0.78343 0.31973 0 4.2108e+06-0.87572 0.32111 0 4.2108e+06-0.90519 0.32263 0 4.2108e+06-0.95526 0.34127 0 4.2108e+06-0.79774 0.29271 0 4.2108e+06-0.85618 0.29497 0 4.2108e+06-0.79975 0.24326 0 4.2108e+06-0.8521 0.24246 0 4.2108e+06-0.91157 0.31224 0 4.2108e+06-0.95031 0.29572 0 4.2108e+06-0.92223 0.2213 0 4.2108e+06-0.94979 0.24354 0 4.2108e+06-0.78641 0.21505 0 4.2108e+06-0.87094 0.21237 0 4.2108e+06-0.90637 0.20934 0 4.2108e+06-0.93777 0.21481 0 4.2108e+060.22244 -0.0296 0 4.808e+060.2704 -0.078167 0 4.808e+060.24416 -0.056883 0 4.808e+060.27311 -0.10653 0 4.808e+060.26172 -0.10653 0 4.808e+060.2704 -0.1349 0 4.808e+060.24428 -0.15599 0 4.808e+060.19017 -0.025297 0 4.808e+060.14248 -0.02428 0 4.808e+060.19815 -0.037432 0 4.808e+060.14248 -0.03515 0 4.808e+060.093313 -0.02428 0 4.808e+060.044144 -0.02428 0 4.808e+060.093313 -0.03515 0 4.808e+060.044144 -0.03515 0 4.808e+060.21156 -0.17357 0 4.808e+060.029114 -0.12594 0 4.2108e+060.036583 -0.15619 0 4.2108e+060.22446 -0.20514 0 4.808e+060.2208 -0.2369 0 4.808e+060.2129 -0.208 0 4.808e+060.19316 -0.25672 0 4.808e+060.14497 -0.27484 0 4.808e+060.030167 -0.18748 0 4.2108e+060.1021 -0.27453 0 4.808e+060.1689 -0.2831 0 4.808e+060.13875 -0.28647 0 4.808e+060.086993 -0.29568 0 4.808e+060.044924 -0.3154 0 4.808e+06-0.0066125 -0.02428 0 4.808e+06-0.057362 -0.02428 0 4.808e+06-0.0066125 -0.03515 0 4.808e+06-0.057362 -0.03515 0 4.808e+06-0.10653 -0.02428 0 4.808e+06-0.15266 -0.025282 0 4.808e+06-0.10653 -0.03515 0 4.808e+06-0.16036 -0.037257 0 4.808e+060.0083286 -0.1259 0 4.2108e+060.0007442 -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+06-0.23604 -0.10652 0 4.808e+06-0.20734 -0.15641 0 4.808e+06-0.23348 -0.13542 0 4.808e+060.0061083 -0.18729 0 4.2108e+06-0.066235 -0.27472 0 4.808e+06-0.17577 -0.20789 0 4.808e+06-0.10861 -0.27494 0 4.808e+06-0.15584 -0.25716 0 4.808e+06-0.0075775 -0.31546 0 4.808e+06-0.050817 -0.29595 0 4.808e+06-0.10306 -0.28653 0 4.808e+06-0.1319 -0.2831 0 4.808e+06-0.18716 -0.20571 0 4.808e+06-0.18369 -0.23729 0 4.808e+06

运行效果：

全文重点之处：在VS2010界面的调试按钮旁边，我们要可以看到Debug和Win32,此时一定要在Win32的下拉列表中点击  配置管理器，进入配置管理器对话框，活动解决方案平台设置为X64，关闭，然后回来F7调试程序，再F5运行。

1、编译无错误：

2、运行：