Win7+VS2010（32）+PCL-- 安装+配置+测试

参考博文：

http://www.cnblogs.com/newpanderking/articles/4022322.html

http://blog.csdn.net/hegeneral/article/details/52489829

Point Cloud Library (PCL) 是一个进行2D/3D图像处理和点云处理工程库。

安装：

pcl 安装包： http://pointclouds.org/downloads/windows.html 下载。

我的VS2010是32位的。

下载下载预编译版本为1.6.0 PCL AllInOne



刚开始安装在C盘时，我的电脑出现了问题，提示

Warning! PATH too long installer unable to modify PATH!

后来我就安装到D盘了，就可以了。

环境变量配置：

D:\PCL1.6.0\OpenNI\Bin;

D:\PCL1.6.0\PCL 1.6.0\bin;（必须有）

D:\PCL1.6.0\PCL 1.6.0\3rdParty\FLANN\bin;

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Qhull\bin;

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Eigen\bin;

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\bin;

VS2010（win32）永久性配置：

建立PCL项目：

视图–属性管理器–Debug win32–右击–添加新项目属性表；

如下图所示：







命名项目属性表；



3.弹出属性配置页，进行配置；

VC++–包含目录：

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Qhull\include

D:\PCL1.6.0\PCL 1.6.0\3rdParty\FLANN\include

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Eigen\include

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Boost\include

D:\PCL1.6.0\PCL 1.6.0\include\pcl-1.6

D:\PCL1.6.0\OpenNI\Include

VC++–库目录：

D:\PCL1.6.0\PCL 1.6.0\3rdParty\FLANN\lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Qhull\lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Boost\lib

D:\PCL1.6.0\PCL 1.6.0\lib

D:\PCL1.6.0\OpenNI\Lib



链接器–附加依赖项（debug）：

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_kdtree_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_io_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_search_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_segmentation_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_apps_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_features_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_filters_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_visualization_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_common_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_io_ply_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_keypoints_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_octree_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_registration_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_sample_consensus_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_surface_debug.lib

D:\PCL1.6.0\PCL 1.6.0\lib\pcl_tracking_debug.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Boost\lib\libboost_date_time-vc100-mt-1_47.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Boost\lib\libboost_date_time-vc100-mt-gd-1_47.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Boost\lib\libboost_filesystem-vc100-mt-1_47.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Boost\lib\libboost_filesystem-vc100-mt-gd-1_47.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Boost\lib\libboost_iostreams-vc100-mt-1_47.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Boost\lib\libboost_iostreams-vc100-mt-gd-1_47.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Boost\lib\libboost_system-vc100-mt-1_47.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Boost\lib\libboost_system-vc100-mt-gd-1_47.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Boost\lib\libboost_thread-vc100-mt-1_47.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Boost\lib\libboost_thread-vc100-mt-gd-1_47.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\FLANN\lib\flann.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\FLANN\lib\flann_cpp_s.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\FLANN\lib\flann_cpp_s-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\FLANN\lib\flann_cuda_s.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\FLANN\lib\flann_cuda_s-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\FLANN\lib\flann_s.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\FLANN\lib\flann_s-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\FLANN\lib\flann-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Qhull\lib\qhull6.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Qhull\lib\qhull6_d.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Qhull\lib\qhullcpp.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Qhull\lib\qhullcpp_d.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Qhull\lib\qhullstatic.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Qhull\lib\qhullstatic_d.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Qhull\lib\qhullstatic_p.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\Qhull\lib\qhullstatic_p_d.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\MapReduceMPI-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\mpistubs-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\QVTK-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkalglib-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkCharts-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkCommon-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkDICOMParser-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkexoIIc-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkexpat-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkFiltering-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkfreetype-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkftgl-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkGenericFiltering-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkGeovis-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkGraphics-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkhdf5-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkHybrid-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkImaging-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkInfovis-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkIO-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkjpeg-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtklibxml2-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkmetaio-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkNetCDF_cxx-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkNetCDF-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkpng-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkproj4-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkRendering-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtksqlite-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtksys-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtktiff-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkverdict-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkViews-gd.lib

D:\PCL1.
4000
6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkVolumeRendering-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkWidgets-gd.lib

D:\PCL1.6.0\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8\vtkzlib-gd.lib



4. 使用属性表

新建空项目main.cpp，–打开属性管理器–项目文件–右键–添加现有属性表–OK！



**

测试：

**

工程示例：

#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;
}

my_point_cloud.pcd文件数据内容：

# .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
0.74995 0.24723 0 4.2108e+06
0.68049 0.29768 0 4.2108e+06
0.66509 0.29002 0 4.2108e+06
0.69441 0.2526 0 4.2108e+06
0.62807 0.22187 0 4.2108e+06
0.58706 0.32199 0 4.2108e+06
0.52125 0.31955 0 4.2108e+06
0.49351 0.32282 0 4.2108e+06
0.44313 0.32169 0 4.2108e+06
0.58678 0.2929 0 4.2108e+06
0.53436 0.29164 0 4.2108e+06
0.59308 0.24134 0 4.2108e+06
0.5357 0.2444 0 4.2108e+06
0.50043 0.31235 0 4.2108e+06
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-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+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
-0.23604 -0.10652 0 4.808e+06
-0.20734 -0.15641 0 4.808e+06
-0.23348 -0.13542 0 4.808e+06
0.0061083 -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

测试结果：