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 FilesPCL

3、配置环境变量

添加环境变量PCL_ROOT

D:Program FilesPCL

系统路径path后添加：

D:Program FilesOpenNIBin;%PCL_ROOT%in;%PCL_ROOT%3rdPartyFLANNin;%PCL_ROOT%3rdPartyQhullin;

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 FilesPCLsharedocpcl-1.6	utorialssourcescloud_viewercloud_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 = 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;
}

5、配置工程

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

D:Program FilesPCL3rdPartyBoostinclude;D:Program FilesPCL3rdPartyEigeninclude;D:Program FilesPCL3rdPartyFlanninclude;D:Program FilesPCL3rdPartyQhullinclude;D:Program FilesPCL3rdPartyVTKincludevtk-5.8;C:Program FilesOpenNIInclude;D:Program FilesPCLincludepcl-1.6;

项目属性->VC++目录->库目录 添加

D:Program FilesPCL3rdPartyBoostlib;D:Program FilesPCL3rdPartyQhulllib;D:Program FilesPCL3rdPartyFLANNlib;D:Program FilesPCL3rdPartyVTKlibvtk-5.8;D:Program FilesPCLlib;C:Program FilesOpenNILib;

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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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
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6、执行效果