pcl1.8.0+vs2013环境配置超详细教程

Rose ·
更新时间:2024-09-21
· 38 次阅读

目录

准备

安装

配置

最近开始学习pcl,经过几天的捣鼓终于将pcl1.8.0和vs2013的环境搭建起来。

准备

pcl版本:PCL-1.8.0-AllInOne-msvc2013-win64

vs版本:vs2013

下载地址链接:链接: https://pan.baidu.com/s/1L6trLERkzylkBUjTw94RNQ?pwd=ep39   提取码: ep39 

因为我的电脑是64位的,所以只有64位版本。

安装

vs2013下载解压默认安装就好了。

PCL整个安装过程需要注意以下三点,其它默认即可(我是安装在D盘):

1. 安装路径最好不要包括中文;

2. 建议勾选上“Add PCL to the system PATH for all users”;

3. 安装时,会提示安装OpenNI,这个建议安装在PCL安装路径的3rdParty下的OpenNI2文件夹中。

安装完成之后将下载好的PCL-1.8.0-AllInOne-msvc2013-win64-pdb,pdb文件拷贝到PCL ROOT下的bin文件夹中,下图是拷贝后的样子

配置

我们打开vs2013新建一个c++控制台程序,选择空项目,去掉“预编译头(P)”前的勾,去掉“安全开发生命周期(SDL)检查(C)”前的勾,其它默认即可。

在进去之后我们可以看见调试器右边有一个Debug 和Win32,我们需要了解的是编译出的程序分成32位和64位,不同的位数需要不同的lib和dll才能编译出来,这就需要我们下载对应的pcl版本。不同的位数的程序分成Debug和Release,vs默认的是Debug。假若需要生产上面4中程序需要分别设置对应的项目属性表。

首先将属性管理器调出来

VS默认只生成32位的程序,32位的属性管理器中只有两项:Debug|Win32以及Release|Win32,

如果需要生成64的程序,方法如下:VS界面有个运行项,后面有个debug,在后面有个叫“解决方案平台”的下拉框,其值默认为win32,需要把win32,改成x64

,方法是,点win32的箭头,点“配置管理器”,点“活动解决方案平台”,点“新建”,把“键入或选择新平台”,这一项,切换为x64,然后确定,此时,原来的win32已变为x64。这时编译生成的程序就是64位版本的,相应的属性管理器中变成四项。

下面我们就可以在属性管理器中进行属性表的配置。选中其中一项,右键点击“添加新项目属性表”,在弹出的对话框里设置好对应的属性表名和路径。确认之后,在该项中就会多出一项以刚才属性表名为名称的属性表。

注:下面配置的是Debugx64的属性表!!!

在新建的属性表里,有三个必须设置的重要项目:附加包含目录,附加库目录,附加依赖项。

1. 附加包含目录,其在项目属性“C/C++”子项的“常规”里下,主要用来设置库的头文件路径。这里设置好PCL及第三方库的头文件路径。

D:\PCL 1.8.0\include\pcl-1.8
D:\PCL 1.8.0\3rdParty\Boost\include\boost-1_59
D:\PCL 1.8.0\3rdParty\Eigen\eigen3
D:\PCL 1.8.0\3rdParty\FLANN\include
D:\PCL 1.8.0\3rdParty\OpenNI2\Include
D:\PCL 1.8.0\3rdParty\Qhull\include

D:\PCL 1.8.0\3rdParty\VTK\include\vtk-7.0

2. 附加库目录,其在项目属性的“连接器”子项的“常规”下,主要用来设置库的lib文件路径。这里设置好设置PCL及第三方库的lib文件路径。

D:\PCL 1.8.0\lib

D:\PCL 1.8.0\3rdParty\Boost\lib

D:\PCL 1.8.0\3rdParty\FLANN\lib

D:\PCL 1.8.0\3rdParty\OpenNI2\lib

D:\PCL 1.8.0\3rdParty\Qhull\lib

D:\PCL 1.8.0\3rdParty\VTK\lib

3. 附加依赖项,其在项目属性的“连接器”子项的“输入”下,主要用来设置编译所需的lib。这里设置好设置PCL及第三方库的lib文件名。

直接复制下面就可以。

pcl_apps_debug.lib pcl_common_debug.lib pcl_features_debug.lib pcl_filters_debug.lib pcl_io_debug.lib pcl_io_ply_debug.lib pcl_kdtree_debug.lib pcl_keypoints_debug.lib pcl_ml_debug.lib pcl_octree_debug.lib pcl_outofcore_debug.lib pcl_people_debug.lib pcl_recognition_debug.lib pcl_registration_debug.lib pcl_sample_consensus_debug.lib pcl_search_debug.lib pcl_segmentation_debug.lib pcl_simulation_debug.lib pcl_stereo_debug.lib pcl_surface_debug.lib pcl_tracking_debug.lib pcl_visualization_debug.lib libboost_atomic-vc120-mt-gd-1_59.lib libboost_chrono-vc120-mt-gd-1_59.lib libboost_container-vc120-mt-gd-1_59.lib libboost_context-vc120-mt-gd-1_59.lib libboost_coroutine-vc120-mt-gd-1_59.lib libboost_date_time-vc120-mt-gd-1_59.lib libboost_exception-vc120-mt-gd-1_59.lib libboost_filesystem-vc120-mt-gd-1_59.lib libboost_graph-vc120-mt-gd-1_59.lib libboost_iostreams-vc120-mt-gd-1_59.lib libboost_locale-vc120-mt-gd-1_59.lib libboost_log-vc120-mt-gd-1_59.lib libboost_log_setup-vc120-mt-gd-1_59.lib libboost_math_c99-vc120-mt-gd-1_59.lib libboost_math_c99f-vc120-mt-gd-1_59.lib libboost_math_c99l-vc120-mt-gd-1_59.lib libboost_math_tr1-vc120-mt-gd-1_59.lib libboost_math_tr1f-vc120-mt-gd-1_59.lib libboost_math_tr1l-vc120-mt-gd-1_59.lib libboost_mpi-vc120-mt-gd-1_59.lib libboost_prg_exec_monitor-vc120-mt-gd-1_59.lib libboost_program_options-vc120-mt-gd-1_59.lib libboost_random-vc120-mt-gd-1_59.lib libboost_regex-vc120-mt-gd-1_59.lib libboost_serialization-vc120-mt-gd-1_59.lib libboost_signals-vc120-mt-gd-1_59.lib libboost_system-vc120-mt-gd-1_59.lib libboost_test_exec_monitor-vc120-mt-gd-1_59.lib libboost_thread-vc120-mt-gd-1_59.lib libboost_timer-vc120-mt-gd-1_59.lib libboost_unit_test_framework-vc120-mt-gd-1_59.lib libboost_wave-vc120-mt-gd-1_59.lib libboost_wserialization-vc120-mt-gd-1_59.lib flann_cpp_s-gd.lib flann_s-gd.lib flann-gd.lib OpenNI2.lib qhullstatic_r-gd.lib qhull_p-gd.lib qhull_r-gd.lib qhullcpp-gd.lib qhull-gd.lib qhullstatic-gd.lib vtkalglib-7.0-gd.lib vtkChartsCore-7.0-gd.lib vtkCommonColor-7.0-gd.lib vtkCommonComputationalGeometry-7.0-gd.lib vtkCommonCore-7.0-gd.lib vtkCommonDataModel-7.0-gd.lib vtkCommonExecutionModel-7.0-gd.lib vtkCommonMath-7.0-gd.lib vtkCommonMisc-7.0-gd.lib vtkCommonSystem-7.0-gd.lib vtkCommonTransforms-7.0-gd.lib vtkDICOMParser-7.0-gd.lib vtkDomainsChemistry-7.0-gd.lib vtkDomainsChemistryOpenGL2-7.0-gd.lib vtkexoIIc-7.0-gd.lib vtkexpat-7.0-gd.lib vtkFiltersAMR-7.0-gd.lib vtkFiltersCore-7.0-gd.lib vtkFiltersExtraction-7.0-gd.lib vtkFiltersFlowPaths-7.0-gd.lib vtkFiltersGeneral-7.0-gd.lib vtkFiltersGeneric-7.0-gd.lib vtkFiltersGeometry-7.0-gd.lib vtkFiltersHybrid-7.0-gd.lib vtkFiltersHyperTree-7.0-gd.lib vtkFiltersImaging-7.0-gd.lib vtkFiltersModeling-7.0-gd.lib vtkFiltersParallel-7.0-gd.lib vtkFiltersParallelImaging-7.0-gd.lib vtkFiltersProgrammable-7.0-gd.lib vtkFiltersSelection-7.0-gd.lib vtkFiltersSMP-7.0-gd.lib vtkFiltersSources-7.0-gd.lib vtkFiltersStatistics-7.0-gd.lib vtkFiltersTexture-7.0-gd.lib vtkFiltersVerdict-7.0-gd.lib vtkfreetype-7.0-gd.lib vtkGeovisCore-7.0-gd.lib vtkglew-7.0-gd.lib vtkGUISupportQt-7.0-gd.lib vtkGUISupportQtSQL-7.0-gd.lib vtkhdf5-7.0-gd.lib vtkhdf5_hl-7.0-gd.lib vtkImagingColor-7.0-gd.lib vtkImagingCore-7.0-gd.lib vtkImagingFourier-7.0-gd.lib vtkImagingGeneral-7.0-gd.lib vtkImagingHybrid-7.0-gd.lib vtkImagingMath-7.0-gd.lib vtkImagingMorphological-7.0-gd.lib vtkImagingSources-7.0-gd.lib vtkImagingStatistics-7.0-gd.lib vtkImagingStencil-7.0-gd.lib vtkInfovisCore-7.0-gd.lib vtkInfovisLayout-7.0-gd.lib vtkInteractionImage-7.0-gd.lib vtkInteractionStyle-7.0-gd.lib vtkInteractionWidgets-7.0-gd.lib vtkIOAMR-7.0-gd.lib vtkIOCore-7.0-gd.lib vtkIOEnSight-7.0-gd.lib vtkIOExodus-7.0-gd.lib vtkIOExport-7.0-gd.lib vtkIOGeometry-7.0-gd.lib vtkIOImage-7.0-gd.lib vtkIOImport-7.0-gd.lib vtkIOInfovis-7.0-gd.lib vtkIOLegacy-7.0-gd.lib vtkIOLSDyna-7.0-gd.lib vtkIOMINC-7.0-gd.lib vtkIOMovie-7.0-gd.lib vtkIONetCDF-7.0-gd.lib vtkIOParallel-7.0-gd.lib vtkIOParallelXML-7.0-gd.lib vtkIOPLY-7.0-gd.lib vtkIOSQL-7.0-gd.lib vtkIOVideo-7.0-gd.lib vtkIOXML-7.0-gd.lib vtkIOXMLParser-7.0-gd.lib vtkjpeg-7.0-gd.lib vtkjsoncpp-7.0-gd.lib vtklibxml2-7.0-gd.lib vtkmetaio-7.0-gd.lib vtkNetCDF-7.0-gd.lib vtkNetCDF_cxx-7.0-gd.lib vtkoggtheora-7.0-gd.lib vtkParallelCore-7.0-gd.lib vtkpng-7.0-gd.lib vtkproj4-7.0-gd.lib vtkRenderingAnnotation-7.0-gd.lib vtkRenderingContext2D-7.0-gd.lib vtkRenderingContextOpenGL2-7.0-gd.lib vtkRenderingCore-7.0-gd.lib vtkRenderingFreeType-7.0-gd.lib vtkRenderingImage-7.0-gd.lib vtkRenderingLabel-7.0-gd.lib vtkRenderingLOD-7.0-gd.lib vtkRenderingOpenGL2-7.0-gd.lib vtkRenderingQt-7.0-gd.lib vtkRenderingVolume-7.0-gd.lib vtkRenderingVolumeOpenGL2-7.0-gd.lib vtksqlite-7.0-gd.lib vtksys-7.0-gd.lib vtktiff-7.0-gd.lib vtkverdict-7.0-gd.lib vtkViewsContext2D-7.0-gd.lib vtkViewsCore-7.0-gd.lib vtkViewsInfovis-7.0-gd.lib vtkViewsQt-7.0-gd.lib vtkzlib-7.0-gd.lib

Releasex64版本的附加依赖项:

pcl_common_release.lib pcl_features_release.lib pcl_filters_release.lib pcl_io_ply_release.lib pcl_io_release.lib pcl_kdtree_release.lib pcl_keypoints_release.lib pcl_ml_release.lib pcl_octree_release.lib pcl_outofcore_release.lib pcl_people_release.lib pcl_recognition_release.lib pcl_registration_release.lib pcl_sample_consensus_release.lib pcl_search_release.lib pcl_segmentation_release.lib pcl_stereo_release.lib pcl_surface_release.lib pcl_tracking_release.lib pcl_visualization_release.lib libboost_atomic-vc120-mt-1_59.lib libboost_chrono-vc120-mt-1_59.lib libboost_container-vc120-mt-1_59.lib libboost_context-vc120-mt-1_59.lib libboost_coroutine-vc120-mt-1_59.lib libboost_date_time-vc120-mt-1_59.lib libboost_exception-vc120-mt-1_59.lib libboost_filesystem-vc120-mt-1_59.lib libboost_graph-vc120-mt-1_59.lib libboost_iostreams-vc120-mt-1_59.lib libboost_locale-vc120-mt-1_59.lib libboost_log-vc120-mt-1_59.lib libboost_log_setup-vc120-mt-1_59.lib libboost_math_c99-vc120-mt-1_59.lib libboost_math_c99f-vc120-mt-1_59.lib libboost_math_c99l-vc120-mt-1_59.lib libboost_math_tr1-vc120-mt-1_59.lib libboost_math_tr1f-vc120-mt-1_59.lib libboost_math_tr1l-vc120-mt-1_59.lib libboost_mpi-vc120-mt-1_59.lib libboost_prg_exec_monitor-vc120-mt-1_59.lib libboost_program_options-vc120-mt-1_59.lib libboost_random-vc120-mt-1_59.lib libboost_regex-vc120-mt-1_59.lib libboost_serialization-vc120-mt-1_59.lib libboost_signals-vc120-mt-1_59.lib libboost_system-vc120-mt-1_59.lib libboost_test_exec_monitor-vc120-mt-1_59.lib libboost_thread-vc120-mt-1_59.lib libboost_timer-vc120-mt-1_59.lib libboost_unit_test_framework-vc120-mt-1_59.lib libboost_wave-vc120-mt-1_59.lib libboost_wserialization-vc120-mt-1_59.lib flann_cpp_s.lib flann_s.lib qhull.lib qhullcpp.lib qhullstatic.lib qhullstatic_r.lib qhull_p.lib qhull_r.lib vtkalglib-7.0.lib vtkChartsCore-7.0.lib vtkCommonColor-7.0.lib vtkCommonComputationalGeometry-7.0.lib vtkCommonCore-7.0.lib vtkCommonDataModel-7.0.lib vtkCommonExecutionModel-7.0.lib vtkCommonMath-7.0.lib vtkCommonMisc-7.0.lib vtkCommonSystem-7.0.lib vtkCommonTransforms-7.0.lib vtkDICOMParser-7.0.lib vtkDomainsChemistry-7.0.lib vtkDomainsChemistryOpenGL2-7.0.lib vtkexoIIc-7.0.lib vtkexpat-7.0.lib vtkFiltersAMR-7.0.lib vtkFiltersCore-7.0.lib vtkFiltersExtraction-7.0.lib vtkFiltersFlowPaths-7.0.lib vtkFiltersGeneral-7.0.lib vtkFiltersGeneric-7.0.lib vtkFiltersGeometry-7.0.lib vtkFiltersHybrid-7.0.lib vtkFiltersHyperTree-7.0.lib vtkFiltersImaging-7.0.lib vtkFiltersModeling-7.0.lib vtkFiltersParallel-7.0.lib vtkFiltersParallelImaging-7.0.lib vtkFiltersProgrammable-7.0.lib vtkFiltersSelection-7.0.lib vtkFiltersSMP-7.0.lib vtkFiltersSources-7.0.lib vtkFiltersStatistics-7.0.lib vtkFiltersTexture-7.0.lib vtkFiltersVerdict-7.0.lib vtkfreetype-7.0.lib vtkGeovisCore-7.0.lib vtkglew-7.0.lib vtkGUISupportQt-7.0.lib vtkGUISupportQtSQL-7.0.lib vtkhdf5-7.0.lib vtkhdf5_hl-7.0.lib vtkImagingColor-7.0.lib vtkImagingCore-7.0.lib vtkImagingFourier-7.0.lib vtkImagingGeneral-7.0.lib vtkImagingHybrid-7.0.lib vtkImagingMath-7.0.lib vtkImagingMorphological-7.0.lib vtkImagingSources-7.0.lib vtkImagingStatistics-7.0.lib vtkImagingStencil-7.0.lib vtkInfovisCore-7.0.lib vtkInfovisLayout-7.0.lib vtkInteractionImage-7.0.lib vtkInteractionStyle-7.0.lib vtkInteractionWidgets-7.0.lib vtkIOAMR-7.0.lib vtkIOCore-7.0.lib vtkIOEnSight-7.0.lib vtkIOExodus-7.0.lib vtkIOExport-7.0.lib vtkIOGeometry-7.0.lib vtkIOImage-7.0.lib vtkIOImport-7.0.lib vtkIOInfovis-7.0.lib vtkIOLegacy-7.0.lib vtkIOLSDyna-7.0.lib vtkIOMINC-7.0.lib vtkIOMovie-7.0.lib vtkIONetCDF-7.0.lib vtkIOParallel-7.0.lib vtkIOParallelXML-7.0.lib vtkIOPLY-7.0.lib vtkIOSQL-7.0.lib vtkIOVideo-7.0.lib vtkIOXML-7.0.lib vtkIOXMLParser-7.0.lib vtkjpeg-7.0.lib vtkjsoncpp-7.0.lib vtklibxml2-7.0.lib vtkmetaio-7.0.lib vtkNetCDF-7.0.lib vtkNetCDF_cxx-7.0.lib vtkoggtheora-7.0.lib vtkParallelCore-7.0.lib vtkpng-7.0.lib vtkproj4-7.0.lib vtkRenderingAnnotation-7.0.lib vtkRenderingContext2D-7.0.lib vtkRenderingContextOpenGL2-7.0.lib vtkRenderingCore-7.0.lib vtkRenderingFreeType-7.0.lib vtkRenderingImage-7.0.lib vtkRenderingLabel-7.0.lib vtkRenderingLOD-7.0.lib vtkRenderingOpenGL2-7.0.lib vtkRenderingQt-7.0.lib vtkRenderingVolume-7.0.lib vtkRenderingVolumeOpenGL2-7.0.lib vtksqlite-7.0.lib vtksys-7.0.lib vtktiff-7.0.lib vtkverdict-7.0.lib vtkViewsContext2D-7.0.lib vtkViewsCore-7.0.lib vtkViewsInfovis-7.0.lib vtkViewsQt-7.0.lib vtkzlib-7.0.lib

配置完属性表之后还需要配置dll。

配置dll有四种方法: 第一种,把dll拷贝到system32里去, 第二种,把dll拷贝到编译出来的程序的文件中, 第三种,直接配置到项目中。 本文采用第四种方法,在系统的path中添加dll的路径。具体方法如下:

首先将打开控制面板\系统和安全\系统->高级系统设置->环境变量

修改path路径在后面添加下面的文字:

;%PCL_ROOT%\bin
;%PCL_ROOT%\3rdParty\Qhull\bin
;%PCL_ROOT%\3rdParty\FLANN\bin
;%PCL_ROOT%\3rdParty\VTK\bin
;%PCL_ROOT%\3rdParty\OpenNI2\Tools

这样环境就配置完成了。

测试

代码:

#include <pcl/visualization/cloud_viewer.h> #include <iostream> #include <pcl/io/io.h> #include <pcl/io/pcd_io.h> #include <iostream> #include <pcl/filters/filter.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("test_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()) { std::cout << cloud->width << endl; std::cout << cloud->height << endl; //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; }

可能会缺少test_cloud.pcd,造成没有点云显示,也无伤大雅。

最终的测试显示。

本文在参考一些博客之后,发觉都不是很详细,特此写下这篇文章以供初学者更清楚的配置。

到此这篇关于pcl1.8.0+vs2013环境配置超详细教程的文章就介绍到这了,更多相关pcl1.8.0 vs2013配置内容请搜索软件开发网以前的文章或继续浏览下面的相关文章希望大家以后多多支持软件开发网!



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