目錄(?)[+]

在安裝PCL時(shí)，最方便的辦法是官網(wǎng)提供PCL all in one版本，下載安裝即可，不需要對(duì)pcl源碼編譯及環(huán)境配置，但是目前該版本最新支持到1.6，而PCL源碼庫(kù)的版本一般較高（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進(jìn)行最新的源碼編譯。官網(wǎng)給出了配置方法：http://pointclouds.org/documentation/tutorials/compiling_pcl_windows.php

在pcl的官網(wǎng)上可以下載所有的庫(kù)的源碼。?http://www.pointclouds.org/downloads/windows.html

前四項(xiàng)是必須要下載的（因?yàn)槲倚枰玫近c(diǎn)抓取功能，就安裝的OpenNI。）并下載最新的PCL源碼。?https://github.com/PointCloudLibrary/pcl/releases ? ? 解壓，源碼放在你指定的文件夾中，比如：C:/PCL/pcl

首先安裝前四個(gè)軟件，安裝過(guò)程中注意要選擇配置環(huán)境變量。（安裝位置就按默認(rèn)路徑吧，選擇自己的路徑可能會(huì)麻煩點(diǎn)） 然后使用cmake對(duì)PCL源碼進(jìn)行編譯vs2010的項(xiàng)目。在cmake中指定源碼位置及生成位置：

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

Grouped和Advanced選項(xiàng)要選中
然后點(diǎn)擊配置，編譯器選擇Visual Studio 10 Win64（這里一定要注意，如果你要配置64位的PCL環(huán)境，上面的第三方庫(kù)也下載64位版本。千萬(wàn)不要選錯(cuò)。如果你要配置32位的PCL環(huán)境，第三方庫(kù)下載32位版本，Cmake編譯器選擇Visual Studio 10?）
配置完以后，要在Cmake中確認(rèn)第三方軟件是否都找到了。 Boost?:

Eigen?:

FLANN?:

VTK?:

OpenNI?:

其他庫(kù)我們沒(méi)有安裝，就不需要指定了。以上路徑如果沒(méi)有找到就手動(dòng)指定就好。

點(diǎn)擊配置，如果沒(méi)錯(cuò)誤的話就點(diǎn)擊生成。

在生成目錄中打開(kāi)PCL.sln工程。生成ALL_BUILD

如果上面的步驟你設(shè)置的都正確的話（尤其是32位64位設(shè)置），編譯過(guò)程會(huì)有幾個(gè)小錯(cuò)誤：

編譯到visualization模塊時(shí)，如下語(yǔ)句會(huì)報(bào)錯(cuò)。參考：http://blog.csdn.net/Linear_Luo/article/details/52658984

if (!pcl::visualization::getColormapLUT (static_cast

?

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

解決方案：?
將所有的

static_cast(value)

11

修改成

static_cast(int(value))

這樣應(yīng)該就沒(méi)問(wèn)題了。編譯會(huì)完全成功（dubug和release下都進(jìn)行編譯）

然后生成INSTALL。（dubug和release下都進(jìn)行編譯）

生成成功后，在C:Program Files下會(huì)生成PCL文件夾，這就是配置好的PCL庫(kù)了。之后就可以像OpenCV一樣配置環(huán)境變量調(diào)用編程了

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

1、打開(kāi)計(jì)算機(jī)?à?系統(tǒng)屬性?à?高級(jí)系統(tǒng)設(shè)置?à?環(huán)境變量，在系統(tǒng)變量中添加C:Program FilesOpenNIBin64;C:Program FilesBoostlib;C:Program Filesflannbin;C:Program Files (x86)Eigenbin;C:Program FilesPCLbin

2、打開(kāi)VS2010 ,創(chuàng)建一個(gè)新的工程，點(diǎn)擊左側(cè)窗口下方的屬性管理器，雙擊Microsoft.Cpp.win32.user，彈出屬性頁(yè)。

點(diǎn)擊VC++目錄(VC++ Directories)

在包含目錄(Include Directories)里添加：

? ? ? ? ? ?C:Program Files (x86)Eigeninclude

C:Program Filesflanninclude

C:Program FilesVTK 5.8.0includevtk-5.8

C:Program FilesBoostinclude

C:Program FilesPCLincludepcl-1.8

在庫(kù)目錄里(Library Directories)添加：

C:Program Filesflannlib

C:Program FilesVTK 5.8.0libvtk-5.8

C:Program FilesBoostlib

C:Program FilesPCLlib

點(diǎn)擊C/C++——>常規(guī)(General)，點(diǎn)開(kāi)附加包含目錄(Additional Include Directories),添加

? ? ? ?C:Program Files (x86)Eigeninclude

C:Program Filesflanninclude

C:Program FilesVTK 5.8.0includevtk-5.8

C:Program FilesBoostinclude

C:Program FilesPCLincludepcl-1.8

點(diǎn)開(kāi)鏈接器->常規(guī)，在附加庫(kù)目錄中添加

? ? ? ?C:Program Filesflannlib

C:Program FilesVTK 5.8.0libvtk-5.8

C:Program FilesBoostlib

C:Program FilesPCLlib

鏈接器->輸入->附加依賴項(xiàng)里邊添加：

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下的配置一樣，鏈接庫(kù)需要換一下

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。（重新啟動(dòng)計(jì)算機(jī)，完成配置）我們可以編寫(xiě)測(cè)試程序了：

[cpp]?view plain?copy #include?