[PCL]1 PCL点云库安装

1.安装文件下载：官网​

2.傻瓜式安装（下面的依赖项都集成进来了）

写入环境变量，这个很不错，可选。

中间安装了Boost、VTK、Kinect驱动什么的。反正是一路下一步，当然我的机器是Win7系统，之前没有安装过PCL，比较纯净。

之后又单独安装了QT4.8.2的sdk。

3.测试

在安装目录下有share/doc/pcl-1.6/tutorials/sources/pcd_write事例程序，用CMake3.3.2生成VS2010项目文件。

编译运行生成了一个.pcd格式文件。

同样编译下面的程序：D:\Program Files (x86)\PCL 1.6.0\share\doc\pcl-1.6\tutorials\sources\cloud_viewer

这个项目引用了QT4.8.2的sdk的类库。查看刚才生成的.pcd文件，结果如图，大概有几个小点点：

pcd格式文件的基本内容如下：

 1 # .PCD v0.7 - Point Cloud Data file format
 2 VERSION 0.7
 3 FIELDS x y z
 4 SIZE 4 4 4
 5 TYPE F F F
 6 COUNT 1 1 1
 7 WIDTH 5
 8 HEIGHT 1
 9 VIEWPOINT 0 0 0 1 0 0 0
10 POINTS 5
11 DATA ascii
12 1.28125 577.09375 197.9375
13 828.125 599.03125 491.375
14 358.6875 917.4375 842.5625
15 764.5 178.28125 879.53125
16 727.53125 525.84375 311.28125

View Code

附加依赖项：debug

 1 D:\Program Files\PCL\lib\pcl_segmentation_debug.lib
 2 D:\Program Files\PCL\lib\pcl_visualization_debug.lib
 3 D:\Program Files\PCL\lib\pcl_features_debug.lib
 4 D:\Program Files\PCL\lib\pcl_filters_debug.lib
 5 D:\Program Files\PCL\lib\pcl_search_debug.lib
 6 D:\Program Files\PCL\lib\pcl_octree_debug.lib
 7 D:\Program Files\PCL\lib\pcl_sample_consensus_debug.lib
 8 D:\Program Files\PCL\lib\pcl_ml_debug.lib
 9 D:\Program Files\PCL\lib\pcl_kdtree_debug.lib
10 D:\Program Files\PCL\lib\pcl_io_debug.lib
11 D:\Program Files\PCL\lib\pcl_common_debug.lib
12 D:\Program Files\PCL\lib\pcl_io_ply_debug.lib
13 D:\Program Files\PCL\lib\pcl_surface_debug.lib
14 D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib\libboost_system-vc100-mt-gd-1_49.lib
15 D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib\libboost_filesystem-vc100-mt-gd-1_49.lib
16 D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib\libboost_thread-vc100-mt-gd-1_49.lib
17 D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib\libboost_date_time-vc100-mt-gd-1_49.lib
18 D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib\libboost_iostreams-vc100-mt-gd-1_49.lib

release

 1 D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib\libboost_system-vc100-mt-1_49.lib
 2 D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib\libboost_filesystem-vc100-mt-1_49.lib
 3 D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib\libboost_thread-vc100-mt-1_49.lib
 4 D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib\libboost_date_time-vc100-mt-1_49.lib
 5 D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib\libboost_iostreams-vc100-mt-1_49.lib
 6 D:\Program Files\PCL\lib\pcl_io_release.lib
 7 D:\Program Files\PCL\lib\pcl_segmentation_release.lib
 8 D:\Program Files\PCL\lib\pcl_io_ply_release.lib
 9 D:\Program Files\PCL\lib\pcl_ml_release.lib
10 D:\Program Files\PCL\lib\pcl_features_release.lib
11 D:\Program Files\PCL\lib\pcl_filters_release.lib
12 D:\Program Files\PCL\lib\pcl_search_release.lib
13 D:\Program Files\PCL\lib\pcl_sample_consensus_release.lib
14 D:\Program Files\PCL\lib\pcl_octree_release.lib
15 D:\Program Files\PCL\lib\pcl_kdtree_release.lib
16 D:\Program Files\PCL\lib\pcl_common_release.lib
17 D:\Program Files\PCL\lib\pcl_surface_release.lib

学习目标：点云的匹配。