A detailed tutorial on compiling and using point Cloud Library 1.7.2

PCL Home: http://pointclouds.org/about/

First, let's briefly describe what the PCL is.

PCL is the short name of the point Cloud library and is a large open source project for 2d/3d image and point cloud processing, including a large number of points cloud filtering, feature estimation, surface reconstruction, point cloud Registration, model matching segmentation algorithm.

The following is a detailed description of the next PCL1.7.2 version under the Windows platform for the compilation, configuration and use.

PCL Download Resource Brief Introduction

This is the download link for the PCL precompiled Windows version.

Http://pointclouds.org/downloads/windows.html

Precompilation, as its name implies, is pre-compiled and does not need to be compiled on your own computer. PCL officially provides 1.6.0 version of the All-in-one installers installation package, which includes the PCL library itself and all its dependent libraries (except QT) (All-in-one installers installation package has msvc2008&2010,32 &62bit a total of 4 kinds of combinations, can be downloaded according to their own needs. Note: The 32 or 64bit here refers to 32-bit library files and 64-bit library files (only related to compilers) and does not mean that Windows systems are 32-bit or 64-bit systems. 64-bit operating systems also have the option to use a 32-bit library file, which does not conflict.

It also provides a separate precompiled installation package for each dependent library, as well as four versions.

The PCL official documentation links to the source code compiled PCL dependent libraries under Windows are as follows: Http://pointclouds.org/documentation/tutorials/compiling_pcl_dependencies_ Windows.php#compiling-pcl-dependencies-windows

It is noted that each dependent library must use the same compilation options, prohibiting 32-bit libraries from mixing with 64-bit libraries.

Boost: For shared pointers and multithreading (required) Eigen: for matrix calculations (required) Flann: For recent Pro search (required) VTK: Rendering and visualization for 3D Point Cloud (required) Qt: for developing graphical interfaces (optional) Qhull: Convex/ Concave package decomposition (optional) Openni: For obtaining point cloud data from Openni-based devices, such as Kinect (optional)

PCL 1.6.0 All-in-one installers can be installed directly if you do not need to use the latest features and features. If you need to use new features, you will need to compile your own PCL version of the source code. PCL Current on GitHub HTTPS://GITHUB.COM/POINTCLOUDLIBRARY/PCL the latest version is 1.8.0. The release version is 1.7.2 compared to earlier releases, and the download link https://github.com/PointCloudLibrary/pcl/releases is available. The PCL official documentation also gives instructions on whether third-party libraries also need to be compiled themselves:
Therefore, this tutorial will use the dependent libraries provided by http://pointclouds.org/downloads/windows.html to precompile individual installation packages to avoid unnecessary problems. List of resources and tools used: Operating system: WIN10 Pro 64bit Compiler: MSVC 2010 Compilation Tool: CMake 3.3.0 (can download and install the latest stable version of the official website) PCL Source Code CMake edition:1.7.2 t:1.50.0 MSVC2010 32bit stand alone installers eigen:3.0.5 stand alone installers flann:1.7.1 MSVC2010 32bit stand alone I Nstallers vtk:5.8.0 without Qt support MSVC2010 32bit stand alone Installers PCL compilation process installs the BOOST,EIGEN,FLANN,VTK installation package to the default path; build P Cl folder, create Source,build folder in subdirectories, copy pcl1.7.2 source to. \pcl\source\ folder; Open the CMake software, set the source code path:. */pcl/source,build binaries path:. */pcl/build; Click Config, select the compiler, click Finish
The following is the output information
As you can see, the "unable to find the requested Boost libraries" appears during the compilation process. Unable to find the Boost header files. Please set Boost_root to the ROOT
Directory containing boost or Boost_includedir to the directory containing boost ' s headers, which is where the compiler does not find the boost library. Need to manually navigate to our installed boost directory. Check the grouped and advanced options in the CMake to make it easier for us to locate the error.
Manually select the Include folder in the Boost directory
Configure again. Detailed analysis of the final output information.
Pkgconfig not located, Openmp,boost,eigen,flann found.
Openni and other libraries were not found because we did not install these optional dependent libraries.
Because we chose the VTK Library without QT support, the upgrade QVTK was not found, and VTK found it. At this point, the 4 dependent libraries required by the PCL have been discovered by CMake.
The sub-module Common...tools in the PCL will be compiled. If you uncheck grouped, you can choose whether or not to compile a module. In this tutorial we chose to compile all.
In addition, apps will not be compiled because the required openni in some apps are not found and we can choose to manually tick them. The examples is not checked by default, or it can be checked manually. Global_tests will not be built because we are not installing gtest and can be ignored. Click Generate to generate the project eventually. Generate Bin/lib File open *.\pcl\build\pcl.sln, compile debug version