PCL环境搭配 (PCL1.7.2+WIN8.1+VS2015)

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1.安装

PCL 1.7.2 All-in-one Installer MSVC2015 Win32

默认在 “C:\Program Files\PCL 1.7.2″ (or “C:\Program Files (x86)\PCL 1.7.2″)

2.配置环境变量

PCL_ROOTC:\Program Files\PCL 1.7.2 (or C:\Program Files (x86)\PCL 1.7.2)Path;%PCL_ROOT%\bin
;%PCL_ROOT%\3rdParty\VTK\bin3.复制VTK *.dll files 从 “PCL 1.7.2\3rdParty\VTK\bin”到 “PCL 1.7.2\bin”

4.属性管理器添加PCL1.7.2 Property Sheet

5.运行示例代码显示

#include "stdafx.h"#include <iostream>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/ModelCoefficients.h>#include <pcl/filters/project_inliers.h>#include<windows.h>intmain(int argc, char** argv){pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);// Fill in the cloud datacloud->width = 5;cloud->height = 1;cloud->points.resize(cloud->width * cloud->height);for (size_t i = 0; i < cloud->points.size(); ++i){cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);}std::cerr << "Cloud before projection: " << std::endl;for (size_t i = 0; i < cloud->points.size(); ++i)std::cerr << "    " << cloud->points[i].x << " "<< cloud->points[i].y << " "<< cloud->points[i].z << std::endl;// Create a set of planar coefficients with X=Y=0,Z=1pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());coefficients->values.resize(4);coefficients->values[0] = coefficients->values[1] = 0;coefficients->values[2] = 1.0;coefficients->values[3] = 0;// Create the filtering objectpcl::ProjectInliers<pcl::PointXYZ> proj;proj.setModelType(pcl::SACMODEL_PLANE);proj.setInputCloud(cloud);proj.setModelCoefficients(coefficients);proj.filter(*cloud_projected);std::cerr << "Cloud after projection: " << std::endl;for (size_t i = 0; i < cloud_projected->points.size(); ++i)std::cerr << "    " << cloud_projected->points[i].x << " "<< cloud_projected->points[i].y << " "<< cloud_projected->points[i].z << std::endl;system("pause");return (0);}

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