一、前言
最近在学习点云库,由于刚刚入门,很多东西也不是很了解,如果大家有什么问题,都可以跟我沟通交流。除了通过博客交流外,欢迎你加入我的QQ群(326866692),一起交流有关于机器学习、深度学习、计算机视觉的内容。目前我并未确定具体的研究方向,所以现在处于广泛涉猎阶段,希望我们能够一起沟通。
今天要分享的是PCL配置。
1、PCL简介
PCL(Point Cloud Library)是在吸收了前人点云相关研究基础上建立起来的大型跨平台开源C++编程库,它实现了大量点云相关的通用算法和高效数据结构,涉及到点云获取、滤波、分割、配准、检索、特征提取、识别、追踪、曲面重建、可视化等。支持多种操作系统平台,可在Windows、Linux、Android、Mac OS X、部分嵌入式实时系统上运行。如果说OpenCV是2D信息获取与处理的结晶,那么PCL就在3D信息获取与处理上具有同等地位。
PCL架构图
2、软硬件环境
电脑:Windows 10 64位
编译器:Visual Studio 2015
PCL: PCL 1.8.0 All-in-one InstallerMSVC2015 x64
下载地址:百度网盘:https://pan.baidu.com/s/1Jm_mGGp36u-nO4MLdt0PTQ 提取码:jx5r
注:不同的电脑处理器位数和不同的编译器对应的PCL版本不同。
二、PCL配置
1、PCL安装
1.双击执行文件
2.点击下一步
3.点击我接受
4.添加所有用户(自由选择是否保存桌面图标)
5.选择安装路径并等待安装
注意点:
(1)尽量不要出现英文路径。
(2)最好保存在系统盘外的盘符。
(3)保证空间大于4.2G。
(4)安装时,会提示安装OpenNI,这个建议安装在PCL安装路径的3rdParty下的OpenNI2文件夹中。
(5)安装时间较长,请耐心等待。
2、PCL配置
1.打开VS2015,创建一个空项目
注:去掉预编译头和SDL检查
2.配置
1.包含目录配置
依次选择 调试-属性-VC++目录-包含目录添加如下内容:
注意:与自己安装路径有关。
E:\Program Files\PCL 1.8.1\include\pcl-1.8
E:\Program Files\PCL 1.8.1\3rdParty\Boost\include\boost-1_64
E:\Program Files\PCL 1.8.1\3rdParty\Eigen\eigen3
E:\Program Files\PCL 1.8.1\3rdParty\FLANN\include
E:\Program Files\PCL 1.8.1\3rdParty\OpenNI2
E:\Program Files\PCL 1.8.1\3rdParty\Qhull\include
E:\Program Files\PCL 1.8.1\3rdParty\VTK\include
2.库目录配置
依次选择 调试-属性-VC++目录-库目录添加如下内容:
注意:与自己安装路径有关。
E:\Program Files\PCL 1.8.1\lib
E:\Program Files\PCL 1.8.1\3rdParty\Boost\lib
E:\Program Files\PCL 1.8.1\3rdParty\FLANN\lib
E:\Program Files\PCL 1.8.1\3rdParty\Qhull\lib
E:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\lib
E:\Program Files\PCL 1.8.1\3rdParty\VTK\lib
3.环境配置
依次选择 调试-属性-调试-环境添加如下内容:
注意:与自己安装路径有关。
path = E:\Program Files\PCL 1.8.1\bin
4.lib文件配置
依次选择 调试-属性-链接器-附加依赖项 添加如下内容:
(1)Debug模式下添加如下内容
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
flann_cpp_s-gd.lib
flann_s-gd.lib
flann-gd.lib
libboost_atomic-vc140-mt-gd-1_61.lib
libboost_chrono-vc140-mt-gd-1_61.lib
libboost_container-vc140-mt-gd-1_61.lib
libboost_context-vc140-mt-gd-1_61.lib
libboost_coroutine-vc140-mt-gd-1_61.lib
libboost_date_time-vc140-mt-gd-1_61.lib
libboost_exception-vc140-mt-gd-1_61.lib
libboost_filesystem-vc140-mt-gd-1_61.lib
libboost_graph-vc140-mt-gd-1_61.lib
libboost_iostreams-vc140-mt-gd-1_61.lib
libboost_locale-vc140-mt-gd-1_61.lib
libboost_log-vc140-mt-gd-1_61.lib
libboost_log_setup-vc140-mt-gd-1_61.lib
libboost_math_c99-vc140-mt-gd-1_61.lib
libboost_math_c99f-vc140-mt-gd-1_61.lib
libboost_math_c99l-vc140-mt-gd-1_61.lib
libboost_math_tr1-vc140-mt-gd-1_61.lib
libboost_math_tr1f-vc140-mt-gd-1_61.lib
libboost_math_tr1l-vc140-mt-gd-1_61.lib
libboost_mpi-vc140-mt-gd-1_61.lib
libboost_prg_exec_monitor-vc140-mt-gd-1_61.lib
libboost_program_options-vc140-mt-gd-1_61.lib
libboost_random-vc140-mt-gd-1_61.lib
libboost_regex-vc140-mt-gd-1_61.lib
libboost_serialization-vc140-mt-gd-1_61.lib
libboost_signals-vc140-mt-gd-1_61.lib
libboost_system-vc140-mt-gd-1_61.lib
libboost_test_exec_monitor-vc140-mt-gd-1_61.lib
libboost_thread-vc140-mt-gd-1_61.lib
libboost_timer-vc140-mt-gd-1_61.lib
libboost_unit_test_framework-vc140-mt-gd-1_61.lib
libboost_wave-vc140-mt-gd-1_61.lib
libboost_wserialization-vc140-mt-gd-1_61.lib
qhull_d.lib
qhull_p_d.lib
qhull_r_d.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_r_d.lib
vtkalglib-7.0-gd.lib
vtkChartsCore-7.0-gd.lib
vtkCommonColor-7.0-gd.lib
vtkCommonComputationalGeometry-7.0-gd.lib
vtkCommonCore-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
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
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
vtkRenderingVolume-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
OpenNI2.lib
(2)Release模式下添加如下内容
pcl_common_release.lib
pcl_features_release.lib
pcl_filters_release.lib
pcl_io_release.lib
pcl_io_ply_release.lib
pcl_kdtree_release.lib
pcl_keypoints_release.lib
pcl_ml_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_stereo_release.lib
pcl_surface_release.lib
pcl_tracking_release.lib
pcl_visualization_release.lib
flann_cpp_s.lib
flann_s.lib
flann.lib
libboost_atomic-vc140-mt-1_61.lib
libboost_chrono-vc140-mt-1_61.lib
libboost_container-vc140-mt-1_61.lib
libboost_context-vc140-mt-1_61.lib
libboost_coroutine-vc140-mt-1_61.lib
libboost_date_time-vc140-mt-1_61.lib
libboost_exception-vc140-mt-1_61.lib
libboost_filesystem-vc140-mt-1_61.lib
libboost_graph-vc140-mt-1_61.lib
libboost_iostreams-vc140-mt-1_61.lib
libboost_locale-vc140-mt-1_61.lib
libboost_log-vc140-mt-1_61.lib
libboost_log_setup-vc140-mt-1_61.lib
libboost_math_c99-vc140-mt-1_61.lib
libboost_math_c99f-vc140-mt-1_61.lib
libboost_math_c99l-vc140-mt-1_61.lib
libboost_math_tr1-vc140-mt-1_61.lib
libboost_math_tr1f-vc140-mt-1_61.lib
libboost_math_tr1l-vc140-mt-1_61.lib
libboost_mpi-vc140-mt-1_61.lib
libboost_prg_exec_monitor-vc140-mt-1_61.lib
libboost_program_options-vc140-mt-1_61.lib
libboost_random-vc140-mt-1_61.lib
libboost_regex-vc140-mt-1_61.lib
libboost_serialization-vc140-mt-1_61.lib
libboost_signals-vc140-mt-1_61.lib
libboost_system-vc140-mt-1_61.lib
libboost_test_exec_monitor-vc140-mt-1_61.lib
libboost_thread-vc140-mt-1_61.lib
libboost_timer-vc140-mt-1_61.lib
libboost_unit_test_framework-vc140-mt-1_61.lib
libboost_wave-vc140-mt-1_61.lib
libboost_wserialization-vc140-mt-1_61.lib
qhullstatic.lib
qhull.lib
qhull_p.lib
qhull_r.lib
qhullcpp.lib
qhullstatic_r.lib
vtkalglib-7.0.lib
vtkChartsCore-7.0.lib
vtkCommonColor-7.0.lib
vtkCommonComputationalGeometry-7.0.lib
vtkCommonCore-7.0.lib
vtkCommonDataModel-7.0.lib
vtkCommonExecutionModel-7.0.lib
vtkCommonMath-7.0.lib
vtkCommonMisc-7.0.lib
vtkCommonSystem-7.0.lib
vtkCommonTransforms-7.0.lib
vtkDICOMParser-7.0.lib
vtkDomainsChemistry-7.0.lib
vtkexoIIc-7.0.lib
vtkexpat-7.0.lib
vtkFiltersAMR-7.0.lib
vtkFiltersCore-7.0.lib
vtkFiltersExtraction-7.0.lib
vtkFiltersFlowPaths-7.0.lib
vtkFiltersGeneral-7.0.lib
vtkFiltersGeneric-7.0.lib
vtkFiltersGeometry-7.0.lib
vtkFiltersHybrid-7.0.lib
vtkFiltersHyperTree-7.0.lib
vtkFiltersImaging-7.0.lib
vtkFiltersModeling-7.0.lib
vtkFiltersParallel-7.0.lib
vtkFiltersParallelImaging-7.0.lib
vtkFiltersProgrammable-7.0.lib
vtkFiltersSelection-7.0.lib
vtkFiltersSMP-7.0.lib
vtkFiltersSources-7.0.lib
vtkFiltersStatistics-7.0.lib
vtkFiltersTexture-7.0.lib
vtkFiltersVerdict-7.0.lib
vtkfreetype-7.0.lib
vtkGeovisCore-7.0.lib
vtkhdf5-7.0.lib
vtkhdf5_hl-7.0.lib
vtkImagingColor-7.0.lib
vtkImagingCore-7.0.lib
vtkImagingFourier-7.0.lib
vtkImagingGeneral-7.0.lib
vtkImagingHybrid-7.0.lib
vtkImagingMath-7.0.lib
vtkImagingMorphological-7.0.lib
vtkImagingSources-7.0.lib
vtkImagingStatistics-7.0.lib
vtkImagingStencil-7.0.lib
vtkInfovisCore-7.0.lib
vtkInfovisLayout-7.0.lib
vtkInteractionImage-7.0.lib
vtkInteractionStyle-7.0.lib
vtkInteractionWidgets-7.0.lib
vtkIOAMR-7.0.lib
vtkIOCore-7.0.lib
vtkIOEnSight-7.0.lib
vtkIOExodus-7.0.lib
vtkIOExport-7.0.lib
vtkIOGeometry-7.0.lib
vtkIOImage-7.0.lib
vtkIOImport-7.0.lib
vtkIOInfovis-7.0.lib
vtkIOLegacy-7.0.lib
vtkIOLSDyna-7.0.lib
vtkIOMINC-7.0.lib
vtkIOMovie-7.0.lib
vtkIONetCDF-7.0.lib
vtkIOParallel-7.0.lib
vtkIOPLY-7.0.lib
vtkIOSQL-7.0.lib
vtkIOVideo-7.0.lib
vtkIOXML-7.0.lib
vtkIOXMLParser-7.0.lib
vtkjpeg-7.0.lib
vtkjsoncpp-7.0.lib
vtklibxml2-7.0.lib
vtkmetaio-7.0.lib
vtkNetCDF-7.0.lib
vtkNetCDF_cxx-7.0.lib
vtkoggtheora-7.0.lib
vtkParallelCore-7.0.lib
vtkpng-7.0.lib
vtkproj4-7.0.lib
vtkRenderingAnnotation-7.0.lib
vtkRenderingContext2D-7.0.lib
vtkRenderingCore-7.0.lib
vtkRenderingFreeType-7.0.lib
vtkRenderingImage-7.0.lib
vtkRenderingLabel-7.0.lib
vtkRenderingLOD-7.0.lib
vtkRenderingVolume-7.0.lib
vtksqlite-7.0.lib
vtksys-7.0.lib
vtktiff-7.0.lib
vtkverdict-7.0.lib
vtkViewsContext2D-7.0.lib
vtkViewsCore-7.0.lib
vtkViewsInfovis-7.0.lib
vtkzlib-7.0.lib
OpenNI2.lib
三、测试代码
1、代码
2、执行结果