PCL+VS2010 Environment Configuration

PCL+VS2010 Environment Configuration

I was the most efficient Linux Party, but the PCL was configured in Ubuntu A few times to fail and had to choose Windows

1. Download

http://go.rritw.com/www.pointclouds.org/downloads/windows.html Download the PCL Full installation package 1.6.0 All-in-one-installer, My computer is a three-digit choice. Windows MSVC (32bit)

2. Installation

Installed in the

D:\Program files\pcl\

3. Configure Environment Variables

Add environment variable pcl_root

D:\Program files\pcl\

The system path is added following path:

D:\Program Files\openni\bin;%pcl_root%\bin;%pcl_root%\3rdparty\flann\bin;%pcl_root%\3rdparty\qhull\bin;

4. New Project

New Win32 Console application, empty project, copy source file

D:\Program Files\pcl\share\doc\pcl-1.6\tutorials\sources\cloud_viewer\cloud_viewer.cpp

To the project catalog, add to the project

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::P clvisualizer& Viewer)

{

Viewer.setbackgroundcolor (1.0, 0.5, 1.0);

PCL::P ointxyz 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::P clvisualizer& Viewer)

{

static unsigned count = 0;

Std::stringstream SS;

SS << "Once per Viewer loop:" << count++;

Viewer.removeshape ("text", 0);

Viewer.addtext (Ss.str (), Max, "text", 0);

Fixme:possible race condition here:

user_data++;

}

Int

Main ()

{

PCL::P OINTCLOUD<PCL::P ointxyzrgba>::P TR Cloud (New PCL::P OINTCLOUD<PCL::P ointxyzrgba>);

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-get access to the underlying more advanced/powerful

Pclvisualizer

This would only get called once

Viewer.runonvisualizationthreadonce (Vieweroneoff);

This would get called once per visualization iteration

Viewer.runonvisualizationthread (Viewerpsycho);

while (!viewer.wasstopped ())

{

You can also does cool processing here

Fixme:note that's running in a separate the thread from Viewerpsycho

And you should guard against race conditions yourself ...

user_data++;

}

return 0;

}

5. Configuration Engineering

You can change the installation directory D:\Program files\pcl\ to your own installation directory Project Properties ->vc++ directory , including directory Add

D:\Program Files\pcl\3rdparty\boost\include;d:\program Files\pcl\3rdparty\eigen\include;d:\program Files\PCL\ 3rdparty\flann\include;d:\program Files\pcl\3rdparty\qhull\include;d:\program Files\PCL\3rdParty\VTK\include\ vtk-5.8; C:\Program Files\openni\include;d:\program files\pcl\include\pcl-1.6;

Project Properties ->vc++ directory --- Library Directory Additions

D:\Program Files\pcl\3rdparty\boost\lib;d:\program Files\pcl\3rdparty\qhull\lib;d:\program Files\PCL\3rdParty\ Flann\lib;d:\program Files\pcl\3rdparty\vtk\lib\vtk-5.8;d:\program Files\pcl\lib; C:\Program Files\openni\lib;

Dubug mode, add-on dependency for linker, input, and More

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

Under normal circumstances, it is possible to compile the pass at this time, but cannot find the mypointcloud.pcd file when executing, create the mypointcloud.pcd file

# . 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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6. Execution Effect

PCL+VS2010 Environment Configuration