编译通过PCL1.5.1的第一个例子图解

话说PCL一次性环境配置失败，

http://blog.csdn.net/bcbobo21cn/article/details/51933508

下面决定手工搞一把；

参阅此文；

http://www.cnblogs.com/newpanderking/articles/4022322.html

首先建立一个空工程；启动VC2012后，出现下面问题，不能生成工程；

未能正确加载 Visual C++ Language Manager Package包；

对此问题，在下面

https://www.microsoft.com/zh-CN/download/confirmation.aspx?id=36020

下载更新，安装；

安装之后VS恢复正常；下面继续PCL；

参阅

http://www.cnblogs.com/newpanderking/articles/4022322.html

对工程添加包含目录，库目录，附加依赖项；我的安装目录和版本与其不同；我所用到的目录和附加依赖项如下；

C:\Program Files (x86)\PCL 1.5.1\3rdParty\Boost\include
C:\Program Files (x86)\PCL 1.5.1\3rdParty\Eigen\include
C:\Program Files (x86)\PCL 1.5.1\3rdParty\Flann\include
C:\Program Files (x86)\PCL 1.5.1\3rdParty\Qhull\include
C:\Program Files (x86)\PCL 1.5.1\3rdParty\VTK\include\vtk-5.8
C:\Program Files (x86)\OpenNI\Include
C:\Program Files (x86)\PCL 1.5.1\include\pcl-1.5

C:\Program Files (x86)\PCL 1.5.1\3rdParty\Boost\lib
C:\Program Files (x86)\PCL 1.5.1\3rdParty\Qhull\lib
C:\Program Files (x86)\PCL 1.5.1\3rdParty\Flann\lib
C:\Program Files (x86)\PCL 1.5.1\3rdParty\VTK\lib\vtk-5.8
C:\Program Files (x86)\PCL 1.5.1\lib
C:\Program Files (x86)\OpenNI\Lib

opengl32.lib
pcl_kdtree_debug.lib
pcl_io_debug.lib
pcl_search_debug.lib
pcl_segmentation_debug.lib
pcl_apps_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_visualization_debug.lib
pcl_common_debug.lib
flann_cpp_s-gd.lib
libboost_system-vc90-mt-gd-1_48.lib
libboost_filesystem-vc90-mt-gd-1_48.lib
libboost_thread-vc90-mt-gd-1_48.lib
libboost_date_time-vc90-mt-gd-1_48.lib
libboost_iostreams-vc90-mt-gd-1_48.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

#include 
#include 
#include 

int
main(int argc,char** argv)
{
pcl::PointCloud::Ptr cloud (new pcl::PointCloud);

if(pcl::io::loadPCDFile("test_pcd.pcd",*cloud)==-1)//*打开点云文件
{
PCL_ERROR("Couldn't read file test_pcd.pcd\n");
return(-1);
}
std::cout<<"Loaded "
<width*cloud->height
<<" data points from test_pcd.pcd with the following fields: "
<points.size();++i)
std::cout<<"    "<points[i].x
<<" "<points[i].y
<<" "<points[i].z< 
 
 构建，出现下面错误； 
 
错误    2    error LNK2038: 检测到“RuntimeLibrary”的不匹配项: 值“MTd_StaticDebug”不匹配值“MDd_DynamicDebug”(pcldemo3.obj 中)    F:\pcltest\pcldemo3\pcldemo3\IlmImfd.lib(ImfTiledRgbaFile.obj)    pcldemo3
 
 
 
 

 
 
按下图修改工程属性，运行库改为MTd，即可；
 
 
 
 

 
 
构建，成功，但是运行时又出现一点问题；可能是DLL或PDB没弄好；下次再搞；
 
 
 
 

 
 
并且，在编译可视化点云的例子时，又出现一点问题；下次再搞；
 
 
 
 
#include 
#include 
#include 
#include 
    
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" <::Ptr cloud (new pcl::PointCloud);
    pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud);
    pcl::visualization::CloudViewer viewer("Cloud Viewer");    
    //showCloud函数是同步的，在此处等待直到渲染显示为止
    viewer.showCloud(cloud);
    //该注册函数在可视化时只调用一次
    viewer.runOnVisualizationThreadOnce (viewerOneOff);
    //该注册函数在渲染输出时每次都调用
    viewer.runOnVisualizationThread (viewerPsycho);
    while (!viewer.wasStopped ())
    {
    //在此处可以添加其他处理
    user_data++;
    }
    return 0;
}
 
 
 错误    1    error LNK1104: 无法打开文件“libboost_date_time-vc100-mt-sgd-1_48.lib”    F:\pcltest\pcldemo3\pcldemo3\LINK    pcldemo3 
 
 
 
点云文件名，
 
 
my_point_cloud.pcd
 test_pcd.pcd