PCL环境搭配 (PCL1.7.2+WIN8.1+VS2015)

1.安装 

PCL 1.7.2 All-in-one Installer MSVC2015 Win32

默认在 “C:\Program Files\PCL 1.7.2″ (or “C:\Program Files (x86)\PCL 1.7.2″)

2.配置环境变量

PCL_ROOT	C:\Program Files\PCL 1.7.2 (or C:\Program Files (x86)\PCL 1.7.2)
Path	;%PCL_ROOT%\bin ;%PCL_ROOT%\3rdParty\VTK\bin

3.复制VTK *.dll files 从 “PCL 1.7.2\3rdParty\VTK\bin”到 “PCL
1.7.2\bin” 
4.属性管理器添加PCL1.7.2
Property Sheet

5.运行示例代码显示

#include "stdafx.h"
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
#include<windows.h>

int
main(int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);

// Fill in the cloud data
cloud->width = 5;
cloud->height = 1;
cloud->points.resize(cloud->width * cloud->height);

for (size_t i = 0; i < cloud->points.size(); ++i)
{
cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
}

std::cerr << "Cloud before projection: " << std::endl;
for (size_t i = 0; i < cloud->points.size(); ++i)
std::cerr << "    " << cloud->points[i].x << " "
<< cloud->points[i].y << " "
<< cloud->points[i].z << std::endl;

// Create a set of planar coefficients with X=Y=0,Z=1
pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
coefficients->values.resize(4);
coefficients->values[0] = coefficients->values[1] = 0;
coefficients->values[2] = 1.0;
coefficients->values[3] = 0;

// Create the filtering object
pcl::ProjectInliers<pcl::PointXYZ> proj;
proj.setModelType(pcl::SACMODEL_PLANE);
proj.setInputCloud(cloud);
proj.setModelCoefficients(coefficients);
proj.filter(*cloud_projected);

std::cerr << "Cloud after projection: " << std::endl;
for (size_t i = 0; i < cloud_projected->points.size(); ++i)
std::cerr << "    " << cloud_projected->points[i].x << " "
<< cloud_projected->points[i].y << " "
<< cloud_projected->points[i].z << std::endl;

system("pause");
return (0);
}