pcl 1.8 + VS 2010 在win7 x64下的配置

原文转载于:http://blog.csdn.net/zhangping560/article/details/53978011

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目录(?)[+]

在安装PCL时，最方便的办法是官网提供PCL all in one版本，下载安装即可，不需要对pcl源码编译及环境配置，但是目前该版本最新支持到1.6，而PCL源码库的版本一般较高（目前是1.8版本）。all in one版本可能缺少最新的功能。

在此，我使用Cmake进行最新的源码编译。官网给出了配置方法：http://pointclouds.org/documentation/tutorials/compiling_pcl_windows.php

在pcl的官网上可以下载所有的库的源码。 http://www.pointclouds.org/downloads/windows.html



前四项是必须要下载的（因为我需要用到点抓取功能，就安装的OpenNI。）并下载最新的PCL源码。 https://github.com/PointCloudLibrary/pcl/releases     解压，源码放在你指定的文件夹中，比如：C:/PCL/pcl

首先安装前四个软件，安装过程中注意要选择配置环境变量。（安装位置就按默认路径吧，选择自己的路径可能会麻烦点）
然后使用cmake对PCL源码进行编译vs2010的项目。在cmake中指定源码位置及生成位置：

Where is the source code   : C:/PCL/pcl
Where to build the binaries: C:/PCL

Grouped和Advanced选项要选中

然后点击配置，编译器选择Visual Studio 10 Win64（这里一定要注意，如果你要配置64位的PCL环境，上面的第三方库也下载64位版本。千万不要选错。如果你要配置32位的PCL环境，第三方库下载32位版本，Cmake编译器选择Visual
Studio 10 ）



配置完以后，要在Cmake中确认第三方软件是否都找到了。
Boost :





Eigen :



FLANN :



VTK :



OpenNI :





其他库我们没有安装，就不需要指定了。以上路径如果没有找到就手动指定就好。

点击配置，如果没错误的话就点击生成。

在生成目录中打开PCL.sln工程。生成ALL_BUILD

如果上面的步骤你设置的都正确的话（尤其是32位64位设置），编译过程会有几个小错误：

编译到visualization模块时，如下语句会报错。参考：http://blog.csdn.net/Linear_Luo/article/details/52658984

if
(!pcl::visualization::getColormapLUT (static_cast<LookUpTableRepresentationProperties>(value),
table)) break;

 

'static_cast': cannot convert
from 'double' to 'pcl::visualization::LookUpTableRepresentationPropert

解决方案： 

将所有的

static_cast<LookUpTableRepresentationProperties>(value)

1
1

修改成

static_cast<LookUpTableRepresentationProperties>(int(value))

这样应该就没问题了。编译会完全成功（dubug和release下都进行编译）

然后生成INSTALL。（dubug和release下都进行编译）

生成成功后，在C:\Program Files下会生成PCL文件夹，这就是配置好的PCL库了。之后就可以像OpenCV一样配置环境变量调用编程了

参考：blog.sina.com.cn/s/blog_b3a4f3f80101k38a.html

1、打开计算机 à 系统属性 à 高级系统设置 à 环境变量，在系统变量中添加C:\Program
Files\OpenNI\Bin64;C:\Program Files\Boost\lib;C:\Program Files\flann\bin;C:\Program Files (x86)\Eigen\bin;C:Program Files\PCL\bin

2、打开VS2010
,创建一个新的工程，点击左侧窗口下方的属性管理器，双击Microsoft.Cpp.win32.user，弹出属性页。
点击VC++目录(VC++ Directories)

在包含目录(Include Directories)里添加：

           C:\Program Files (x86)\Eigen\include

C:\Program Files\flann\include

C:\Program Files\VTK 5.8.0\include\vtk-5.8

C:\Program Files\Boost\include

C:\Program Files\PCL\include\pcl-1.8

在库目录里(Library Directories)添加：

C:\Program Files\flann\lib

C:\Program Files\VTK 5.8.0\lib\vtk-5.8

C:\Program Files\Boost\lib

C:\Program Files\PCL\lib

点击C/C++——>常规(General)，点开附加包含目录(Additional Include Directories),添加

       C:\Program Files (x86)\Eigen\include

C:\Program Files\flann\include

C:\Program Files\VTK 5.8.0\include\vtk-5.8

C:\Program Files\Boost\include

C:\Program Files\PCL\include\pcl-1.8

点开链接器->常规，在附加库目录中添加

       C:\Program Files\flann\lib

C:\Program Files\VTK 5.8.0\lib\vtk-5.8

C:\Program Files\Boost\lib

C:\Program Files\PCL\lib

链接器->输入->附加依赖项里边添加：

opengl32.lib

boost_chrono-vc100-mt-gd-1_50.lib

boost_date_time-vc100-mt-gd-1_50.lib

boost_filesystem-vc100-mt-gd-1_50.lib

boost_graph-vc100-mt-gd-1_50.lib

boost_graph_parallel-vc100-mt-gd-1_50.lib

boost_iostreams-vc100-mt-gd-1_50.lib

boost_locale-vc100-mt-gd-1_50.lib

boost_math_c99-vc100-mt-gd-1_50.lib

boost_math_c99f-vc100-mt-gd-1_50.lib

boost_math_tr1-vc100-mt-gd-1_50.lib

boost_math_tr1f-vc100-mt-gd-1_50.lib

boost_mpi-vc100-mt-gd-1_50.lib

boost_prg_exec_monitor-vc100-mt-gd-1_50.lib

boost_program_options-vc100-mt-gd-1_50.lib

boost_random-vc100-mt-gd-1_50.lib

boost_regex-vc100-mt-gd-1_50.lib

boost_serialization-vc100-mt-gd-1_50.lib

boost_signals-vc100-mt-gd-1_50.lib

boost_system-vc100-mt-gd-1_50.lib

boost_thread-vc100-mt-gd-1_50.lib

boost_timer-vc100-mt-gd-1_50.lib

boost_unit_test_framework-vc100-mt-gd-1_50.lib

boost_wave-vc100-mt-gd-1_50.lib

boost_wserialization-vc100-mt-gd-1_50.lib

libboost_chrono-vc100-mt-gd-1_50.lib

libboost_date_time-vc100-mt-gd-1_50.lib

libboost_filesystem-vc100-mt-gd-1_50.lib

libboost_graph_parallel-vc100-mt-gd-1_50.lib

libboost_iostreams-vc100-mt-gd-1_50.lib

libboost_locale-vc100-mt-gd-1_50.lib

libboost_math_c99-vc100-mt-gd-1_50.lib

libboost_math_c99f-vc100-mt-gd-1_50.lib

libboost_math_tr1-vc100-mt-gd-1_50.lib

libboost_math_tr1f-vc100-mt-gd-1_50.lib

libboost_mpi-vc100-mt-gd-1_50.lib

libboost_prg_exec_monitor-vc100-mt-gd-1_50.lib

libboost_program_options-vc100-mt-gd-1_50.lib

libboost_random-vc100-mt-gd-1_50.lib

libboost_regex-vc100-mt-gd-1_50.lib

libboost_serialization-vc100-mt-gd-1_50.lib

libboost_signals-vc100-mt-gd-1_50.lib

libboost_system-vc100-mt-gd-1_50.lib

libboost_test_exec_monitor-vc100-mt-gd-1_50.lib

libboost_thread-vc100-mt-gd-1_50.lib

libboost_timer-vc100-mt-gd-1_50.lib

libboost_unit_test_framework-vc100-mt-gd-1_50.lib

libboost_wave-vc100-mt-gd-1_50.lib

libboost_wserialization-vc100-mt-gd-1_50.lib

flann-gd.lib

flann_cpp_s-gd.lib

flann_cuda_s-gd.lib

flann_s-gd.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_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_surface_debug.lib

pcl_tracking_debug.lib

pcl_visualization_debug.lib

MapReduceMPI-gd.lib

mpistubs-gd.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

以上是debug下的配置，release下的配置一样，链接库需要换一下

opengl32.lib

boost_chrono-vc100-mt-1_50.lib

boost_date_time-vc100-mt-1_50.lib

boost_filesystem-vc100-mt-1_50.lib

boost_graph-vc100-mt-1_50.lib

boost_graph_parallel-vc100-mt-1_50.lib

boost_iostreams-vc100-mt-1_50.lib

boost_locale-vc100-mt-1_50.lib

boost_math_c99-vc100-mt-1_50.lib

boost_math_c99f-vc100-mt-1_50.lib

boost_math_tr1-vc100-mt-1_50.lib

boost_math_tr1f-vc100-mt-1_50.lib

boost_mpi-vc100-mt-1_50.lib

boost_prg_exec_monitor-vc100-mt-1_50.lib

boost_program_options-vc100-mt-1_50.lib

boost_random-vc100-mt-1_50.lib

boost_regex-vc100-mt-1_50.lib

boost_serialization-vc100-mt-1_50.lib

boost_signals-vc100-mt-1_50.lib

boost_system-vc100-mt-1_50.lib

boost_thread-vc100-mt-1_50.lib

boost_timer-vc100-mt-1_50.lib

boost_unit_test_framework-vc100-mt-1_50.lib

boost_wave-vc100-mt-1_50.lib

boost_wserialization-vc100-mt-1_50.lib

libboost_chrono-vc100-mt-1_50.lib

libboost_date_time-vc100-mt-1_50.lib

libboost_filesystem-vc100-mt-1_50.lib

libboost_graph_parallel-vc100-mt-1_50.lib

libboost_iostreams-vc100-mt-1_50.lib

libboost_locale-vc100-mt-1_50.lib

libboost_math_c99-vc100-mt-1_50.lib

libboost_math_c99f-vc100-mt-1_50.lib

libboost_math_tr1-vc100-mt-1_50.lib

libboost_math_tr1f-vc100-mt-1_50.lib

libboost_mpi-vc100-mt-1_50.lib

libboost_prg_exec_monitor-vc100-mt-1_50.lib

libboost_program_options-vc100-mt-1_50.lib

libboost_random-vc100-mt-1_50.lib

libboost_regex-vc100-mt-1_50.lib

libboost_serialization-vc100-mt-1_50.lib

libboost_signals-vc100-mt-1_50.lib

libboost_system-vc100-mt-1_50.lib

libboost_test_exec_monitor-vc100-mt-1_50.lib

libboost_thread-vc100-mt-1_50.lib

libboost_timer-vc100-mt-1_50.lib

libboost_unit_test_framework-vc100-mt-1_50.lib

libboost_wave-vc100-mt-1_50.lib

libboost_wserialization-vc100-mt-1_50.lib

flann.lib

flann_cpp_s.lib

flann_cuda_s.lib

flann_s.lib

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_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_surface_release.lib

pcl_tracking_release.lib

pcl_visualization_release.lib

MapReduceMPI.lib

mpistubs.lib

vtkalglib.lib

vtkCharts.lib

vtkCommon.lib

vtkDICOMParser.lib

vtkexoIIc.lib

vtkexpat.lib

vtkFiltering.lib

vtkfreetype.lib

vtkftgl.lib

vtkGenericFiltering.lib

vtkGeovis.lib

vtkGraphics.lib

vtkhdf5.lib

vtkHybrid.lib

vtkImaging.lib

vtkInfovis.lib

vtkIO.lib

vtkjpeg.lib

vtklibxml2.lib

vtkmetaio.lib

vtkNetCDF.lib

vtkNetCDF_cxx.lib

vtkpng.lib

vtkproj4.lib

vtkRendering.lib

vtksqlite.lib

vtksys.lib

vtktiff.lib

vtkverdict.lib

vtkViews.lib

vtkVolumeRendering.lib

vtkWidgets.lib

vtkzlib.lib

好了，至此就配置完成了。（重新启动计算机，完成配置）我们可以编写测试程序了：

[cpp] view
plain copy

#include <iostream>  

#include <pcl/io/pcd_io.h>  

#include <pcl/point_types.h>  

  

int main (int argc, char** argv)  

{  

    pcl::PointCloud<pcl::PointXYZ> cloud;  

  

    // Fill in the cloud data  

    cloud.width    = 5;  

    cloud.height   = 1;  

    cloud.is_dense = false;  

    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);  

    }  

  

    pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);  

    std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << 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;  

  

    return (0);  

}  

结果：



最后，祝各位配置顺利！