pcl
最近开始学习pcl，经过几天的捣鼓终于将pcl1.8.0和vs2013的环境搭建起来。
准备
pcl版本：PCL-1.8.0-AllInOne-msvc2013-win64
vs版本：vs2013
下载地址链接：https://pan.baidu.com/s/1MXGJFYQ_FIMAAP5ybXBc2A 密码：krj5
因为我的电脑是64位的，所以只有64位版本。
安装
vs2013下载解压默认安装就好了。
PCL整个安装过程需要注意以下三点，其它默认即可（我是安装在D盘）：
1. 安装路径最好不要包括中文；
2. 建议勾选上“Add PCL to the system PATH for all users”；
3. 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。
安装完成之后将下载好的PCL-1.8.0-AllInOne-msvc2013-win64-pdb，pdb文件拷贝到PCL ROOT下的bin文件夹中，下图是拷贝后的样子
配置
我们打开vs2013新建一个c++控制台程序，选择空项目，去掉“预编译头（P）”前的勾，去掉“安全开发生命周期（SDL）检查(C)”前的勾，其它默认即可。
在进去之后我们可以看见调试器右边有一个Debug 和Win32，我们需要了解的是编译出的程序分成32位和64位，不同的位数需要不同的lib和dll才能编译出来，这就需要我们下载对应的pcl版本。不同的位数的程序分成Debug和Release，vs默认的是Debug。假若需要生产上面4中程序需要分别设置对应的项目属性表。
首先将属性管理器调出来
VS默认只生成32位的程序，32位的属性管理器中只有两项：Debug|Win32以及Release|Win32，
如果需要生成64的程序，方法如下：VS界面有个运行项，后面有个debug，在后面有个叫“解决方案平台”的下拉框，其值默认为win32，需要把win32，改成x64
，方法是，点win32的箭头，点“配置管理器”，点“活动解决方案平台”，点“新建”，把“键入或选择新平台”，这一项，切换为x64，然后确定，此时，原来的win32已变为x64。这时编译生成的程序就是64位版本的，相应的属性管理器中变成四项。
下面我们就可以在属性管理器中进行属性表的配置。选中其中一项，右键点击“添加新项目属性表”，在弹出的对话框里设置好对应的属性表名和路径。确认之后，在该项中就会多出一项以刚才属性表名为名称的属性表。
注：下面配置的是Debugx64的属性表！！！
在新建的属性表里，有三个必须设置的重要项目:附加包含目录，附加库目录，附加依赖项。
1. 附加包含目录，其在项目属性“C/C++”子项的“常规”里下，主要用来设置库的头文件路径。这里设置好PCL及第三方库的头文件路径。
D:\PCL 1.8.0\include\pcl-1.8
D:\PCL 1.8.0\3rdParty\Boost\include\boost-1_59
D:\PCL 1.8.0\3rdParty\Eigen\eigen3
D:\PCL 1.8.0\3rdParty\FLANN\include
D:\PCL 1.8.0\3rdParty\OpenNI2\Include
D:\PCL 1.8.0\3rdParty\Qhull\include
D:\PCL 1.8.0\3rdParty\VTK\include\vtk-7.0
2. 附加库目录，其在项目属性的“连接器”子项的“常规”下，主要用来设置库的lib文件路径。这里设置好设置PCL及第三方库的lib文件路径。
D:\PCL 1.8.0\lib
D:\PCL 1.8.0\3rdParty\Boost\lib
D:\PCL 1.8.0\3rdParty\FLANN\lib
D:\PCL 1.8.0\3rdParty\OpenNI2\lib
D:\PCL 1.8.0\3rdParty\Qhull\lib
D:\PCL 1.8.0\3rdParty\VTK\lib
3. 附加依赖项，其在项目属性的“连接器”子项的“输入”下，主要用来设置编译所需的lib。这里设置好设置PCL及第三方库的lib文件名。
直接复制下面就可以。
pcl_APPs_debug.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_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_simulation_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
flann_cpp_s-gd.lib
flann_s-gd.lib
flann-gd.lib
OpenNI2.lib
qhullstatic_r-gd.lib
qhull_p-gd.lib
qhull_r-gd.lib
qhullcpp-gd.lib
qhull-gd.lib
qhullstatic-gd.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
vtkDomainsChemistryOpenGL2-7.0-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
vtkglew-7.0-gd.lib
vtkGUISupportQt-7.0-gd.lib
vtkGUISupportQtsql-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
vtkRenderingQt-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
vtkViewsQt-7.0-gd.lib
vtkzlib-7.0-gd.lib
Releasex64版本的附加依赖项：
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_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
libboost_atomic-vc120-mt-1_59.lib
libboost_chrono-vc120-mt-1_59.lib
libboost_container-vc120-mt-1_59.lib
libboost_context-vc120-mt-1_59.lib
libboost_coroutine-vc120-mt-1_59.lib
libboost_date_time-vc120-mt-1_59.lib
libboost_exception-vc120-mt-1_59.lib
libboost_filesystem-vc120-mt-1_59.lib
libboost_graph-vc120-mt-1_59.lib
libboost_iostreams-vc120-mt-1_59.lib
libboost_locale-vc120-mt-1_59.lib
libboost_log-vc120-mt-1_59.lib
libboost_log_setup-vc120-mt-1_59.lib
libboost_math_c99-vc120-mt-1_59.lib
libboost_math_c99f-vc120-mt-1_59.lib
libboost_math_c99l-vc120-mt-1_59.lib
libboost_math_tr1-vc120-mt-1_59.lib
libboost_math_tr1f-vc120-mt-1_59.lib
libboost_math_tr1l-vc120-mt-1_59.lib
libboost_mpi-vc120-mt-1_59.lib
libboost_prg_exec_monitor-vc120-mt-1_59.lib
libboost_program_options-vc120-mt-1_59.lib
libboost_random-vc120-mt-1_59.lib
libboost_regex-vc120-mt-1_59.lib
libboost_serialization-vc120-mt-1_59.lib
libboost_signals-vc120-mt-1_59.lib
libboost_system-vc120-mt-1_59.lib
libboost_test_exec_monitor-vc120-mt-1_59.lib
libboost_thread-vc120-mt-1_59.lib
libboost_timer-vc120-mt-1_59.lib
libboost_unit_test_framework-vc120-mt-1_59.lib
libboost_wave-vc120-mt-1_59.lib
libboost_wserialization-vc120-mt-1_59.lib
flann_cpp_s.lib
flann_s.lib
qhull.lib
qhullcpp.lib
qhullstatic.lib
qhullstatic_r.lib
qhull_p.lib
qhull_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
vtkDomainsChemistryOpenGL2-7.0.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
vtkglew-7.0.lib
vtkGUISupportQt-7.0.lib
vtkGUISupportQtSQL-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
vtkIOParallelXML-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
vtkRenderingContextOpenGL2-7.0.lib
vtkRenderingCore-7.0.lib
vtkRenderingFreeType-7.0.lib
vtkRenderingImage-7.0.lib
vtkRenderingLabel-7.0.lib
vtkRenderingLOD-7.0.lib
vtkRenderingOpenGL2-7.0.lib
vtkRenderingQt-7.0.lib
vtkRenderingVolume-7.0.lib
vtkRenderingVolumeOpenGL2-7.0.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
vtkViewsQt-7.0.lib
vtkzlib-7.0.lib
配置完属性表之后还需要配置dll。配置dll有四种方法，第一种，把dll拷贝到system32里去，第二种，把dll拷贝到编译出来的程序的文件中，第三种，直接配置到项目中。本文采用第四种方法，在系统的path中添加dll的路径。具体方法如下：
首先将打开控制面板\系统和安全\系统->高级系统设置->环境变量
修改path路径在后面添加下面的文字：
;%PCL_ROOT%\bin
;%PCL_ROOT%\3rdParty\Qhull\bin
;%PCL_ROOT%\3rdParty\FLANN\bin
;%PCL_ROOT%\3rdParty\VTK\bin
;%PCL_ROOT%\3rdParty\OpenNI2\Tools
这样环境就配置完成了。
测试
代码：
#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <iostream>
#include <pcl/filters/filter.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("test_cloud.pcd", *cloud);
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())
{
std::cout << cloud->width << endl;
std::cout << cloud->height << endl;
//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;
}
可能会缺少test_cloud.pcd，造成没有点云显示，也无伤大雅。
最终的测试显示。
本文在参考一些博客之后，发觉都不是很详细，特此写下这篇文章以供初学者更清楚的配置。
相关阅读
DNS《口袋妖怪：心灵之金》ACG汉化简体中文版http://www.400gb.com/file/71654976DNS《口袋妖怪：灵魂之银》ACG汉化简体中文版http:/
因排版过于粗糙 学习详情转至 ： https://blog.csdn.net/qq_41035588/article/details/97010039 前言:复杂类型说明 要了解
淘宝格子铺怎么推广。说到淘宝推广，很多卖家可能马上想到的就是利用淘宝直通车等付费工具进行关键词推广，或者是利用贴吧、论坛引流
Eclipse最新最简最详细安装教程 1、首先打开官方地址（见下面） Eclipse官方下载地址：点击打开官方链接2、点击红箭头指向的红框中的“
Ubuntu/linux 下安装jdk和eclipse，超详细教程
1、首先下载jdk和eclipsejdk官方下载网址：http://www.oracle.com/technetwork/java/javase/downloads/index.html官方有时候下的很