计算机图形学的开始……
2017-03-01 15:27
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安装visual studio
下载visual studio 2013 安装即可,除了安装路径改到想安装的地方,其他保持默认即可。mistake:
1. 若最终安装出现红色叹号,在控制面板中选择此程序,点击
更改,选择repair,修复后重启电脑即可。
2. 若打开程序出现无法加载×××包或者无法新建项目,在控制面板中选择此程序,点击’更改’,选择repair,修复后重启电脑即可。
安装PCL-1.8.0-AllInOne-msvc2013-win32
版本说明:本安装包由VS2013编译的32位PCL1.8.0rc1版本。仅可配置于VS2013,32位版本的程序上。
1.下载安装PCL
安装一键安装包时,将安装目录改为了”D:\software install\PCL 1.8.0”(自选),注意:之后会弹出openni的安装界面,路径选择为”D:\software install\PCL 1.8.0\3rdParty\OpenNI2”。2.配置环境变量
安装完成后,环境变量中会多出以下4个项目:接着,我们自己还需要添加几个环境变量:
;D:\software install\PCL 1.8.0\bin;%PCL_ROOT%\3rdParty\FLANN\bin;%PCL_ROOT%\3rdParty\VTK\bin;%OPENNI2_REDIST%
3. copy pdb 文件
将下载的安装文件下的“PCL-1.8.0-AllInOne-msvc2013-win32-pdb”文件夹下的pdb文件copy到PCL的安装目录下的”PCL 1.8.0\bin”文件夹下。4. 配置项目工程属性文件
(1)新建一个空项目,将项目设置成32位。(2)在“视图 -> 其他窗口 ->属性管理器”中,打开属性管理器;
在Debug|win32下添加新项目属性表,取名PCL。
双击PCL打开:
在PCL属性页 -> VC++目录 -> 包含目录 中添加如下目录:
在VC++目录 -> 库目录 设置如下:
在左侧 链接器 -> 输入 -> 附加依赖项:
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_ml_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_stereo_debug.lib pcl_surface_debug.lib pcl_tracking_debug.lib pcl_visualization_debug.lib libboost_atomic-vc120-mt-gd-1_59.lib libboost_chrono-vc120-mt-gd-1_59.lib libboost_container-vc120-mt-gd-1_59.lib libboost_context-vc120-mt-gd-1_59.lib libboost_coroutine-vc120-mt-gd-1_59.lib libboost_date_time-vc120-mt-gd-1_59.lib libboost_exception-vc120-mt-gd-1_59.lib libboost_filesystem-vc120-mt-gd-1_59.lib libboost_graph-vc120-mt-gd-1_59.lib libboost_iostreams-vc120-mt-gd-1_59.lib libboost_locale-vc120-mt-gd-1_59.lib libboost_log-vc120-mt-gd-1_59.lib libboost_log_setup-vc120-mt-gd-1_59.lib libboost_math_c99-vc120-mt-gd-1_59.lib libboost_math_c99f-vc120-mt-gd-1_59.lib libboost_math_c99l-vc120-mt-gd-1_59.lib libboost_math_tr1-vc120-mt-gd-1_59.lib libboost_math_tr1f-vc120-mt-gd-1_59.lib libboost_math_tr1l-vc120-mt-gd-1_59.lib libboost_mpi-vc120-mt-gd-1_59.lib libboost_prg_exec_monitor-vc120-mt-gd-1_59.lib libboost_program_options-vc120-mt-gd-1_59.lib libboost_random-vc120-mt-gd-1_59.lib libboost_regex-vc120-mt-gd-1_59.lib libboost_serialization-vc120-mt-gd-1_59.lib libboost_signals-vc120-mt-gd-1_59.lib libboost_system-vc120-mt-gd-1_59.lib libboost_test_exec_monitor-vc120-mt-gd-1_59.lib libboost_thread-vc120-mt-gd-1_59.lib libboost_timer-vc120-mt-gd-1_59.lib libboost_unit_test_framework-vc120-mt-gd-1_59.lib libboost_wave-vc120-mt-gd-1_59.lib libboost_wserialization-vc120-mt-gd-1_59.lib vtkalglib-7.0-gd.lib vtkChartsCore-7.0-gd.lib vtkCommonCore-7.0-gd.lib vtkCommonColor-7.0-gd.lib vtkCommonComputationalGeometry-7.0-gd.lib vtkCommonDataModel-7.0-gd.lib vtkCommonExecutionModel-7.0-gd.lib vtkCommonMath-7.0-gd.lib vtkCommonMisc-7.0-gd.lib vtkCommonSystem-7.0-gd.lib vtkCommonTransforms-7.0-gd.lib vtkDICOMParser-7.0-gd.lib vtkDomainsChemistry-7.0-gd.lib vtkexoIIc-7.0-gd.lib vtkexpat-7.0-gd.lib vtkFiltersAMR-7.0-gd.lib vtkFiltersCore-7.0-gd.lib vtkFiltersExtraction-7.0-gd.lib vtkFiltersFlowPaths-7.0-gd.lib vtkFiltersGeneral-7.0-gd.lib vtkFiltersGeneric-7.0-gd.lib vtkFiltersGeometry-7.0-gd.lib vtkFiltersHybrid-7.0-gd.lib vtkFiltersHyperTree-7.0-gd.lib vtkFiltersImaging-7.0-gd.lib vtkFiltersModeling-7.0-gd.lib vtkFiltersParallel-7.0-gd.lib vtkFiltersParallelImaging-7.0-gd.lib vtkFiltersProgrammable-7.0-gd.lib vtkFiltersSelection-7.0-gd.lib vtkFiltersSMP-7.0-gd.lib vtkFiltersSources-7.0-gd.lib vtkFiltersStatistics-7.0-gd.lib vtkFiltersTexture-7.0-gd.lib vtkFiltersVerdict-7.0-gd.lib vtkfreetype-7.0-gd.lib vtkGeovisCore-7.0-gd.lib vtkhdf5-7.0-gd.lib vtkhdf5_hl-7.0-gd.lib vtkImagingColor-7.0-gd.lib vtkImagingCore-7.0-gd.lib vtkImagingFourier-7.0-gd.lib vtkImagingGeneral-7.0-gd.lib vtkImagingHybrid-7.0-gd.lib vtkImagingMath-7.0-gd.lib vtkImagingMorphological-7.0-gd.lib vtkImagingSources-7.0-gd.lib vtkImagingStatistics-7.0-gd.lib vtkImagingStencil-7.0-gd.lib vtkInfovisCore-7.0-gd.lib vtkInfovisLayout-7.0-gd.lib vtkInteractionImage-7.0-gd.lib vtkInteractionStyle-7.0-gd.lib vtkInteractionWidgets-7.0-gd.lib vtkIOAMR-7.0-gd.lib vtkIOCore-7.0-gd.lib vtkIOEnSight-7.0-gd.lib vtkIOExodus-7.0-gd.lib vtkIOExport-7.0-gd.lib vtkIOGeometry-7.0-gd.lib vtkIOImage-7.0-gd.lib vtkIOImport-7.0-gd.lib vtkIOInfovis-7.0-gd.lib vtkIOLegacy-7.0-gd.lib vtkIOLSDyna-7.0-gd.lib vtkIOMINC-7.0-gd.lib vtkIOMovie-7.0-gd.lib vtkIONetCDF-7.0-gd.lib vtkIOParallel-7.0-gd.lib vtkIOParallelXML-7.0-gd.lib vtkIOPLY-7.0-gd.lib vtkIOSQL-7.0-gd.lib vtkIOVideo-7.0-gd.lib vtkIOXML-7.0-gd.lib vtkIOXMLParser-7.0-gd.lib vtkjpeg-7.0-gd.lib vtkjsoncpp-7.0-gd.lib vtklibxml2-7.0-gd.lib vtkmetaio-7.0-gd.lib vtkNetCDF-7.0-gd.lib vtkNetCDF_cxx-7.0-gd.lib vtkoggtheora-7.0-gd.lib vtkParallelCore-7.0-gd.lib vtkpng-7.0-gd.lib vtkproj4-7.0-gd.lib vtkRenderingAnnotation-7.0-gd.lib vtkRenderingContext2D-7.0-gd.lib vtkRenderingContextOpenGL2-7.0-gd.lib vtkRenderingCore-7.0-gd.lib vtkRenderingFreeType-7.0-gd.lib vtkRenderingImage-7.0-gd.lib vtkRenderingLabel-7.0-gd.lib vtkRenderingLOD-7.0-gd.lib vtkRenderingOpenGL2-7.0-gd.lib vtkRenderingVolume-7.0-gd.lib vtkRenderingVolumeOpenGL2-7.0-gd.lib vtksqlite-7.0-gd.lib vtksys-7.0-gd.lib vtktiff-7.0-gd.lib vtkverdict-7.0-gd.lib vtkViewsContext2D-7.0-gd.lib vtkViewsCore-7.0-gd.lib vtkViewsInfovis-7.0-gd.lib vtkzlib-7.0-gd.lib vtkGUISupportQt-7.0-gd.lib vtkRenderingQt-7.0-gd.lib vtkViewsQt-7.0-gd.lib flann_cpp_s-gd.lib qhullstatic-gd.lib OpenNI2.lib kernel32.lib user32.lib gdi32.lib winspool.lib shell32.lib ole32.lib oleaut32.lib uuid.lib comdlg32.lib advapi32.lib comctl32.lib wsock32.lib glu32.lib opengl32.lib ws2_32.lib Psapi.lib
同理配置release文件
attention
若以上配置出问题或嫌麻烦可直接调用安装包中已配置好的props文件,
将PCLDebug.props文件添加到Debug|Win32的属性表中,
将PCLRelease.props文件添加到Release|Win32的属性表中。即可。
(3)右键工程名,进入工程属性页,依次选中:
Configuration Properties(配置管理器)->C/C++->Preprocessor(预处理器)->Preprocessor Definitions(预处理定义) 中添加如下两项:
_SCL_SECURE_NO_WARNINGS _CRT_SECURE_NO_WARNINGS
(4)项目环境目录配置
右键解决方案,属性,左侧配置属性–调试,右侧环境设置为:
PATH=$(PCL_ROOT)\bin;$(PCL_ROOT)\3rdParty\FLANN\bin;$(PCL_ROOT)\3rdParty\VTK\bin;$(PCL_ROOT)\Qhull\bin;$(PCL_ROOT)\3rdParty\OpenNI2\Tools;$(PATH)
4 测试代码
直接在工程中添加main.cpp文件后编译运行如下代码#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::PCLVisualizer& viewer) { viewer.setBackgroundColor(1.0, 0.5, 1.0); pcl::PointXYZ 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::PCLVisualizer& viewer) { static unsigned count = 0; std::stringstream ss; ss << "Once per viewer loop: " << count++; viewer.removeShape("text", 0); viewer.addText(ss.str(), 200, 300, "text", 0); //FIXME: possible race condition here: user_data++; } int main() { pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>); pcl::io::loadPCDFile("D:/visual studio Projects/Project_PCL/my_point_cloud.pcd", *cloud); //记得把路径换一下 pcl::visualization::CloudViewer viewer("Cloud Viewer"); //blocks until the cloud is actually rendered viewer.showCloud(cloud); //use the following functions to get access to the underlying more advanced/powerful //PCLVisualizer //This will only get called once viewer.runOnVisualizationThreadOnce(viewerOneOff); //This will get called once per visualization iteration viewer.runOnVisualizationThread(viewerPsycho); while (!viewer.wasStopped()) { //you can also do cool processing here //FIXME: Note that this is running in a separate thread from viewerPsycho //and you should guard against race conditions yourself... user_data++; } return 0; }
5 添加my_point_cloud.pcd文件
在工程目录下D:/visual studio Projects/Project_PCL/(Project_PCL为我的工程名字)新建txt,添加一下数据后,修改名字和后缀即可。# .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 0.93773 0.33763 0 4.2108e+06 0.90805 0.35641 0 4.2108e+06 0.81915 0.32 0 4.2108e+06 0.97192 0.278 0 4.2108e+06 0.944 0.29474 0 4.2108e+06 0.98111 0.24247 0 4.2108e+06 0.93655 0.26143 0 4.2108e+06 0.91631 0.27442 0 4.2108e+06 0.81921 0.29315 0 4.2108e+06 0.90701 0.24109 0 4.2108e+06 0.83239 0.23398 0 4.2108e+06 0.99185 0.2116 0 4.2108e+06 0.89264 0.21174 0 4.2108e+06 0.85082 0.21212 0 4.2108e+06 0.81044 0.32222 0 4.2108e+06 0.74459 0.32192 0 4.2108e+06 0.69927 0.32278 0 4.2108e+06 0.8102 0.29315 0 4.2108e+06 0.75504 0.29765 0 4.2108e+06 0.8102 0.24399 0 4.2108e+06 0.74995 0.24723 0 4.2108e+06 0.68049 0.29768 0 4.2108e+06 0.66509 0.29002 0 4.2108e+06 0.69441 0.2526 0 4.2108e+06 0.62807 0.22187 0 4.2108e+06 0.58706 0.32199 0 4.2108e+06 0.52125 0.31955 0 4.2108e+06 0.49351 0.32282 0 4.2108e+06 0.44313 0.32169 0 4.2108e+06 0.58678 0.2929 0 4.2108e+06 0.53436 0.29164 0 4.2108e+06 0.59308 0.24134 0 4.2108e+06 0.5357 0.2444 0 4.2108e+06 0.50043 0.31235 0 4.2108e+06 0.44107 0.29711 0 4.2108e+06 0.50727 0.22193 0 4.2108e+06 0.43957 0.23976 0 4.2108e+06 0.8105 0.21112 0 4.2108e+06 0.73555 0.2114 0 4.2108e+06 0.69907 0.21082 0 4.2108e+06 0.63327 0.21154 0 4.2108e+06 0.59165 0.21201 0 4.2108e+06 0.52477 0.21491 0 4.2108e+06 0.49375 0.21006 0 4.2108e+06 0.4384 0.19632 0 4.2108e+06 0.43425 0.16052 0 4.2108e+06 0.3787 0.32173 0 4.2108e+06 0.33444 0.3216 0 4.2108e+06 0.23815 0.32199 0 4.808e+06 0.3788 0.29315 0 4.2108e+06 0.33058 0.31073 0 4.2108e+06 0.3788 0.24399 0 4.2108e+06 0.30249 0.29189 0 4.2108e+06 0.23492 0.29446 0 4.808e+06 0.29465 0.24399 0 4.2108e+06 0.23514 0.24172 0 4.808e+06 0.18836 0.32277 0 4.808e+06 0.15992 0.32176 0 4.808e+06 0.08642 0.32181 0 4.808e+06 0.039994 0.32283 0 4.808e+06 0.20039 0.31211 0 4.808e+06 0.1417 0.29506 0 4.808e+06 0.20921 0.22332 0 4.808e+06 0.13884 0.24227 0 4.808e+06 0.085123 0.29441 0 4.808e+06 0.048446 0.31279 0 4.808e+06 0.086957 0.24399 0 4.808e+06 0.3788 0.21189 0 4.2108e+06 0.29465 0.19323 0 4.2108e+06 0.23755 0.19348 0 4.808e+06 0.29463 0.16054 0 4.2108e+06 0.23776 0.16054 0 4.808e+06 0.19016 0.21038 0 4.808e+06 0.15704 0.21245 0 4.808e+06 0.08678 0.21169 0 4.808e+06 0.012746 0.32168 0 4.808e+06 -0.075715 0.32095 0 4.808e+06 -0.10622 0.32304 0 4.808e+06 -0.16391 0.32118 0 4.808e+06 0.00088411 0.29487 0 4.808e+06 -0.057568 0.29457 0 4.808e+06 -0.0034333 0.24399 0 4.808e+06 -0.055185 0.24185 0 4.808e+06 -0.10983 0.31352 0 4.808e+06 -0.15082 0.29453 0 4.808e+06 -0.11534 0.22049 0 4.808e+06 -0.15155 0.24381 0 4.808e+06 -0.1912 0.32173 0 4.808e+06 -0.281 0.3185 0 4.808e+06 -0.30791 0.32307 0 4.808e+06 -0.33854 0.32148 0 4.808e+06 -0.21248 0.29805 0 4.808e+06 -0.26372 0.29905 0 4.808e+06 -0.22562 0.24399 0 4.808e+06 -0.25035 0.2371 0 4.808e+06 -0.29941 0.31191 0 4.808e+06 -0.35845 0.2954 0 4.808e+06 -0.29231 0.22236 0 4.808e+06 -0.36101 0.24172 0 4.808e+06 -0.0034393 0.21129 0 4.808e+06 -0.07306 0.21304 0 4.808e+06 -0.10579 0.2099 0 4.808e+06 -0.13642 0.21411 0 4.808e+06 -0.22562 0.19323 0 4.808e+06 -0.24439 0.19799 0 4.808e+06 -0.22591 0.16041 0 4.808e+06 -0.23466 0.16082 0 4.808e+06 -0.3077 0.20998 0 4.808e+06 -0.3413 0.21239 0 4.808e+06 -0.40551 0.32178 0 4.2108e+06 -0.50568 0.3218 0 4.2108e+06 -0.41732 0.30844 0 4.2108e+06 -0.44237 0.28859 0 4.2108e+06 -0.41591 0.22004 0 4.2108e+06 -0.44803 0.24236 0 4.2108e+06 -0.50623 0.29315 0 4.2108e+06 -0.50916 0.24296 0 4.2108e+06 -0.57019 0.22334 0 4.2108e+06 -0.59611 0.32199 0 4.2108e+06 -0.65104 0.32199 0 4.2108e+06 -0.72566 0.32129 0 4.2108e+06 -0.75538 0.32301 0 4.2108e+06 -0.59653 0.29315 0 4.2108e+06 -0.65063 0.29315 0 4.2108e+06 -0.59478 0.24245 0 4.2108e+06 -0.65063 0.24399 0 4.2108e+06 -0.70618 0.29525 0 4.2108e+06 -0.76203 0.31284 0 4.2108e+06 -0.70302 0.24183 0 4.2108e+06 -0.77062 0.22133 0 4.2108e+06 -0.41545 0.21099 0 4.2108e+06 -0.45004 0.19812 0 4.2108e+06 -0.4475 0.1673 0 4.2108e+06 -0.52031 0.21236 0 4.2108e+06 -0.55182 0.21045 0 4.2108e+06 -0.5965 0.21131 0 4.2108e+06 -0.65064 0.2113 0 4.2108e+06 -0.72216 0.21286 0 4.2108e+06 -0.7556 0.20987 0 4.2108e+06 -0.78343 0.31973 0 4.2108e+06 -0.87572 0.32111 0 4.2108e+06 -0.90519 0.32263 0 4.2108e+06 -0.95526 0.34127 0 4.2108e+06 -0.79774 0.29271 0 4.2108e+06 -0.85618 0.29497 0 4.2108e+06 -0.79975 0.24326 0 4.2108e+06 -0.8521 0.24246 0 4.2108e+06 -0.91157 0.31224 0 4.2108e+06 -0.95031 0.29572 0 4.2108e+06 -0.92223 0.2213 0 4.2108e+06 -0.94979 0.24354 0 4.2108e+06 -0.78641 0.21505 0 4.2108e+06 -0.87094 0.21237 0 4.2108e+06 -0.90637 0.20934 0 4.2108e+06 -0.93777 0.21481 0 4.2108e+06 0.22244 -0.0296 0 4.808e+06 0.2704 -0.078167 0 4.808e+06 0.24416 -0.056883 0 4.808e+06 0.27311 -0.10653 0 4.808e+06 0.26172 -0.10653 0 4.808e+06 0.2704 -0.1349 0 4.808e+06 0.24428 -0.15599 0 4.808e+06 0.19017 -0.025297 0 4.808e+06 0.14248 -0.02428 0 4.808e+06 0.19815 -0.037432 0 4.808e+06 0.14248 -0.03515 0 4.808e+06 0.093313 -0.02428 0 4.808e+06 0.044144 -0.02428 0 4.808e+06 0.093313 -0.03515 0 4.808e+06 0.044144 -0.03515 0 4.808e+06 0.21156 -0.17357 0 4.808e+06 0.029114 -0.12594 0 4.2108e+06 0.036583 -0.15619 0 4.2108e+06 0.22446 -0.20514 0 4.808e+06 0.2208 -0.2369 0 4.808e+06 0.2129 -0.208 0 4.808e+06 0.19316 -0.25672 0 4.808e+06 0.14497 -0.27484 0 4.808e+06 0.030167 -0.18748 0 4.2108e+06 0.1021 -0.27453 0 4.808e+06 0.1689 -0.2831 0 4.808e+06 0.13875 -0.28647 0 4.808e+06 0.086993 -0.29568 0 4.808e+06 0.044924 -0.3154 0 4.808e+06 -0.0066125 -0.02428 0 4.808e+06 -0.057362 -0.02428 0 4.808e+06 -0.0066125 -0.03515 0 4.808e+06 -0.057362 -0.03515 0 4.808e+06 -0.10653 -0.02428 0 4.808e+06 -0.15266 -0.025282 0 4.808e+06 -0.10653 -0.03515 0 4.808e+06 -0.16036 -0.037257 0 4.808e+06 0.0083286 -0.1259 0 4.2108e+06 0.0007442 -0.15603 0 4.2108e+06 -0.1741 -0.17381 0 4.808e+06 -0.18502 -0.02954 0 4.808e+06 -0.20707 -0.056403 0 4.808e+06 -0.23348 -0.07764 0 4.808e+06 -0.2244 -0.10653 0 4.808e+06 -0.23604 -0.10652 0 4.808e+06 -0.20734 -0.15641 0 4.808e+06 -0.23348 -0.13542 0 4.808e+06 0.0061083 -0.18729 0 4.2108e+06 -0.066235 -0.27472 0 4.808e+06 -0.17577 -0.20789 0 4.808e+06 -0.10861 -0.27494 0 4.808e+06 -0.15584 -0.25716 0 4.808e+06 -0.0075775 -0.31546 0 4.808e+06 -0.050817 -0.29595 0 4.808e+06 -0.10306 -0.28653 0 4.808e+06 -0.1319 -0.2831 0 4.808e+06 -0.18716 -0.20571 0 4.808e+06 -0.18369 -0.23729 0 4.808e+06
6 运行
运行,首次运行很慢,需要耐心等待,如果窗口一闪而过,请使用CTRL+F5【滑动鼠标可以进行缩放和旋转】若运行时出现3个色块 滑动鼠标调节大小即可。
感谢以下博客提供的参考:
http://blog.csdn.net/chentravelling/article/details/43451589
http://blog.csdn.net/u011197534/article/details/52960394
http://blog.csdn.net/u012750702/article/details/53046210
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