Install version 1.7.1 PCL Open Source Library

Start with the PCL installation, is the 1.6.0 version installed directly with the All-in-one, but there are many new features in the PCL and the new NDT algorithms for registration are only available in more than 1.7, so the PCL version 1.7.1 version of the PCL was installed from the source code, and now it has been exposed 1.7 . version 2 and the master version of a test. The source code for PCL disclosure can be downloaded from PCL's GitHub home page.

HTTPS://GITHUB.COM/POINTCLOUDLIBRARY/PCL . 1.7. The specific installation steps for version 1 are as follows:

1. Uninstalling the PCL1.6.0 version
2. Uninstall, clear 1.6.0 version of Boost Eigen Flann VTK qhull all records and files
3. Reinstall the Boost Eigen Flann VTK qhull QT4.8.0 in the compression pack, the default is the C drive Qt path is C:\Qt\4.8.0
4. Install CMake 2.8 or later
5. Unzip 1.7.1 Original Code Package
6. Open CMake compile 1.7.1 source code

At first, after compiling the PCL vs2010 project through CMake, I thought that it would be installed successfully after compiling the project directly in VS2010, but actually 1.7.1 version of the source code in the Png_ There is a bug in the IO.h file, which has plagued the problem for a long time, but eventually found a solution on the PCL official forum. Modify the Png_io.h file as follows:

Comment out the first four lines of the "template <" in the Io\include\pcl\io\png_io.h file and recompile the IO module with the following modified contents:

pcl_deprecated (template void Savepngfile (const std::string& file_name, const PCL::P ointcloud& Cloud),
"Pcl::io::savepngfile (file_name, Cloud) is deprecated, and use a new generic"
"Function Pcl::io::savepngfile (file_name, Cloud, field_name) with \" Rgb\ "as the field name."
// );

Recompile the entire PCL project, this time it will be completely correct, and finally right-click Install, the compilation completed PCL1.7.1 installation.

The whole process, right-all-build, compile, time is longer, about 1 hours, through the right-click Install to compile
After the completion of the C:\Program in the C-plate FILES\PCL whether there is a PCL, and some words so congratulations, PCL successfully installed. two. Tips and Bugs:

1. After successfully installing PCL on my lab's computer, create a new MFC program using PCL, compile without error, but eventually you will be prompted not to find the link library, regardless of how the project properties of the VS configuration can not solve, finally by the 1.7.1 project needs DLL all put into the project debug/ Folder before it can be resolved;
2. In MFC, adding PCL functional modules is not as difficult as imagined, the first to see the PCL China Forum on the transplant method of Dr. Tian, think too many steps too cumbersome, did not dare to try, then their own groping, In fact, the incorporation of PCL in MFC only needs to find the desired properties of the PCL modules in the complete project of the PCL you have compiled, and configure them in your MFC, and add the header files.
3. In MFC, if you use identifiers such as Ifstream string, you need to precede std;
4. When using the MLS algorithm in the PCL rebuild module, there is a case where the vector is out of bounds and the method is changed as follows:
Fix movingleastsquares mls_results_ Vector assert error

5. Another bug does not remember how it appeared, modify the method:
Fix compiling error of deprecated template.

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