Without further ado, specifically in windows download PCL and decompression pcl can see/huangzhongqing/pcl/This big guy's post, so I'll be specific about stepping over some potholes:
Pothole Point 1:
Follow the steps in the article to unzip and download, my PCL environment is in K drive, but somehow my openni2 folder is in C drive, that is to say, there is no next directory for openni2 under 3rdparty folder, what I did is to copy all the files under openni2 directory in c drive to K drive. Of course, you can also not copy, in the configuration of environment variables, remember to write the c-disk openni2 not write the K-disk can be.
Pothole Stomping Point 2:
When installing PCL, if you choose to add environment variables may appear "environment variable length exceeds 1023" such a similar error, this time you need to manually configure it, the following is my configuration:
In this picture, these three variables should be installed when you can automatically write to the environment variables, the third line is that I manually modified, placed in the k disk, in fact, you can not put, as long as you remember to be the C disk line, the first two lines of the same. There is also the following picture of this
It is also possible to fill them in automatically, the ones we need to add manually are the ones below:
We'll just add these in the Path, at the end.
Pothole Point 3:
Linking libraries issue, which is one of the trickier ones, in the lib folder under each folder under 3rdparty, create a new txt file with the contents filled in:DIR *.lib /B > DIR .lib /B: Lists all files in the current directory with the .lib extension and uses a clean output format.DIR: Displays a list of files and subdirectories in the directory. *.lib: Matches all files ending in .lib. /B: Use concise output format to display only the file name without details such as date, time, file size, and so on. is the name of the file you need to redirect. Finally, change the txt suffix of the write command to bat, and double-click to execute it to write all the names of the lib files into it. After completing the above operation, when we execute it, the following error may appear:
Troubleshooting this error also took me a long time, and I finally found the cause: in the liblist list we got above, theIf you include both the debug and release versions of the lib, then vs will conflict when executing it and report an errorThe specific method is that we can remove the non-debug version of the lib file, for example, you put "pcl_registrationd.lib" and "pcl_registration.lib" are written up! For example, if you put "pcl_registrationd.lib" and "pcl_registration.lib", then remove the ones without the "d" at the end, and if there is a "gd" suffix in front of it, keep it, and remove the ones without the "gd". Here is the library I put together for 1.14.1:
libboost_atomic-vc143-mt-gd-x64-1_84.lib
libboost_bzip2-vc143-mt-gd-x64-1_84.lib
libboost_chrono-vc143-mt-gd-x64-1_84.lib
libboost_container-vc143-mt-gd-x64-1_84.lib
libboost_context-vc143-mt-gd-x64-1_84.lib
libboost_contract-vc143-mt-gd-x64-1_84.lib
libboost_coroutine-vc143-mt-gd-x64-1_84.lib
libboost_date_time-vc143-mt-gd-x64-1_84.lib
libboost_exception-vc143-mt-gd-x64-1_84.lib
libboost_fiber-vc143-mt-gd-x64-1_84.lib
libboost_filesystem-vc143-mt-gd-x64-1_84.lib
libboost_graph-vc143-mt-gd-x64-1_84.lib
libboost_graph_parallel-vc143-mt-gd-x64-1_84.lib
libboost_iostreams-vc143-mt-gd-x64-1_84.lib
libboost_json-vc143-mt-gd-x64-1_84.lib
libboost_locale-vc143-mt-gd-x64-1_84.lib
libboost_log-vc143-mt-gd-x64-1_84.lib
libboost_log_setup-vc143-mt-gd-x64-1_84.lib
libboost_math_c99-vc143-mt-gd-x64-1_84.lib
libboost_math_c99f-vc143-mt-gd-x64-1_84.lib
libboost_math_c99l-vc143-mt-gd-x64-1_84.lib
libboost_math_tr1-vc143-mt-gd-x64-1_84.lib
libboost_math_tr1f-vc143-mt-gd-x64-1_84.lib
libboost_math_tr1l-vc143-mt-gd-x64-1_84.lib
libboost_mpi-vc143-mt-gd-x64-1_84.lib
libboost_nowide-vc143-mt-gd-x64-1_84.lib
libboost_numpy310-vc143-mt-gd-x64-1_84.lib
libboost_prg_exec_monitor-vc143-mt-gd-x64-1_84.lib
libboost_program_options-vc143-mt-gd-x64-1_84.lib
libboost_python310-vc143-mt-gd-x64-1_84.lib
libboost_random-vc143-mt-gd-x64-1_84.lib
libboost_regex-vc143-mt-gd-x64-1_84.lib
libboost_serialization-vc143-mt-gd-x64-1_84.lib
libboost_stacktrace_noop-vc143-mt-gd-x64-1_84.lib
libboost_stacktrace_windbg-vc143-mt-gd-x64-1_84.lib
libboost_stacktrace_windbg_cached-vc143-mt-gd-x64-1_84.lib
libboost_system-vc143-mt-gd-x64-1_84.lib
libboost_test_exec_monitor-vc143-mt-gd-x64-1_84.lib
libboost_thread-vc143-mt-gd-x64-1_84.lib
libboost_timer-vc143-mt-gd-x64-1_84.lib
libboost_type_erasure-vc143-mt-gd-x64-1_84.lib
libboost_unit_test_framework-vc143-mt-gd-x64-1_84.lib
libboost_url-vc143-mt-gd-x64-1_84.lib
libboost_wave-vc143-mt-gd-x64-1_84.lib
libboost_wserialization-vc143-mt-gd-x64-1_84.lib
libboost_zlib-vc143-mt-gd-x64-1_84.lib
flann_cpp
flann_cpp_s
flann_s
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_rd.lib
qhull_rd.lib
vtkcgns-9.
vtkChartsCore-9.
vtkCommonColor-9.
vtkCommonComputationalGeometry-9.
vtkCommonCore-9.
vtkCommonDataModel-9.
vtkCommonExecutionModel-9.
vtkCommonMath-9.
vtkCommonMisc-9.
vtkCommonSystem-9.
vtkCommonTransforms-9.
vtkDICOMParser-9.
vtkDomainsChemistry-9.
vtkDomainsChemistryOpenGL2-9.
vtkdoubleconversion-9.
vtkexodusII-9.
vtkexpat-9.
vtkFiltersAMR-9.
vtkFiltersCellGrid-9.
vtkFiltersCore-9.
vtkFiltersExtraction-9.
vtkFiltersFlowPaths-9.
vtkFiltersGeneral-9.
vtkFiltersGeneric-9.
vtkFiltersGeometry-9.
vtkFiltersGeometryPreview-9.
vtkFiltersHybrid-9.
vtkFiltersHyperTree-9.
vtkFiltersImaging-9.
vtkFiltersModeling-9.
vtkFiltersParallel-9.
vtkFiltersParallelImaging-9.
vtkFiltersPoints-9.
vtkFiltersProgrammable-9.
vtkFiltersReduction-9.
vtkFiltersSelection-9.
vtkFiltersSMP-9.
vtkFiltersSources-9.
vtkFiltersStatistics-9.
vtkFiltersTensor-9.
vtkFiltersTexture-9.
vtkFiltersTopology-9.
vtkFiltersVerdict-9.
vtkfmt-9.
vtkfreetype-9.
vtkGeovisCore-9.
vtkgl2ps-9.
vtkglew-9.
vtkhdf5-9.
vtkhdf5_hl-9.
vtkImagingColor-9.
vtkImagingCore-9.
vtkImagingFourier-9.
vtkImagingGeneral-9.
vtkImagingHybrid-9.
vtkImagingMath-9.
vtkImagingMorphological-9.
vtkImagingSources-9.
vtkImagingStatistics-9.
vtkImagingStencil-9.
vtkInfovisCore-9.
vtkInfovisLayout-9.
vtkInteractionImage-9.
vtkInteractionStyle-9.
vtkInteractionWidgets-9.
vtkIOAMR-9.
vtkIOAsynchronous-9.
vtkIOCellGrid-9.
vtkIOCesium3DTiles-9.
vtkIOCGNSReader-9.
vtkIOChemistry-9.
vtkIOCityGML-9.
vtkIOCONVERGECFD-9.
vtkIOCore-9.
vtkIOEnSight-9.
vtkIOExodus-9.
vtkIOExport-9.
vtkIOExportGL2PS-9.
vtkIOExportPDF-9.
vtkIOFLUENTCFF-9.
vtkIOGeometry-9.
vtkIOHDF-9.
vtkIOImage-9.
vtkIOImport-9.
vtkIOInfovis-9.
vtkIOIOSS-9.
vtkIOLegacy-9.
vtkIOLSDyna-9.
vtkIOMINC-9.
vtkIOMotionFX-9.
vtkIOMovie-9.
vtkIONetCDF-9.
vtkIOOggTheora-9.
vtkIOParallel-9.
vtkIOParallelXML-9.
vtkIOPLY-9.
vtkIOSegY-9.
vtkIOSQL-9.
vtkioss-9.
vtkIOTecplotTable-9.
vtkIOVeraOut-9.
vtkIOVideo-9.
vtkIOXML-9.
vtkIOXMLParser-9.
vtkjpeg-9.
vtkjsoncpp-9.
vtkkissfft-9.
vtklibharu-9.
vtklibproj-9.
vtklibxml2-9.
vtkloguru-9.
vtklz4-9.
vtklzma-9.
vtkmetaio-9.
vtknetcdf-9.
vtkogg-9.
vtkParallelCore-9.
vtkParallelDIY-9.
vtkpng-9.
vtkpugixml-9.
vtkRenderingAnnotation-9.
vtkRenderingCellGrid-9.
vtkRenderingContext2D-9.
vtkRenderingContextOpenGL2-9.
vtkRenderingCore-9.
vtkRenderingFreeType-9.
vtkRenderingGL2PSOpenGL2-9.
vtkRenderingHyperTreeGrid-9.
vtkRenderingImage-9.
vtkRenderingLabel-9.
vtkRenderingLICOpenGL2-9.
vtkRenderingLOD-9.
vtkRenderingOpenGL2-9.
vtkRenderingSceneGraph-9.
vtkRenderingUI-9.
vtkRenderingVolume-9.
vtkRenderingVolumeOpenGL2-9.
vtkRenderingVtkJS-9.
vtksqlite-9.
vtksys-9.
vtkTestingRendering-9.
vtktheora-9.
vtktiff-9.
vtkverdict-9.
vtkViewsContext2D-9.
vtkViewsCore-9.
vtkViewsInfovis-9.
vtkWrappingTools-9.
vtkzlib-9.
pcl_commond.lib
pcl_featuresd.lib
pcl_filtersd.lib
pcl_iod.lib
pcl_io_plyd.lib
pcl_kdtreed.lib
pcl_keypointsd.lib
pcl_mld.lib
pcl_octreed.lib
pcl_outofcored.lib
pcl_peopled.lib
pcl_recognitiond.lib
pcl_registrationd.lib
pcl_sample_consensusd.lib
pcl_searchd.lib
pcl_segmentationd.lib
pcl_stereod.lib
pcl_surfaced.lib
pcl_trackingd.lib
pcl_visualizationd.lib
The above question also applies to the problem of executing a statement that does not report an error, but displays a non-zero exit in the console window.
Pothole Stomping Point 4:
Unresolvable external symbols "void __cdecl vtkRenderingOpenGL_AutoInit_Construct(void)" (?vtkRenderingOpenGL_AutoInit_Construct@@YAXXZ)，function (math.) "public: __cdecl `anonymous namespace'::vtkRenderingOpenGL_ModuleInit::vtkRenderingOpenGL_ModuleInit(void)" (??0vtkRenderingOpenGL_ModuleInit@?A0xdbae2661@@QEAA@XZ)
I used the code from the big guy's post at the beginning of the article:
#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/>
#include <pcl/io/pcd_io.h>
#include <>
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);
VTK_MODULE_INIT(vtkRenderingOpenGL);
int user_data;
void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
(1.0, 0.5, 1.0);
pcl::PointXYZ o;
= 1.0;
= 0;
= 0;
(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++;
("text", 0);
((), 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("", *cloud);
pcl::visualization::CloudViewer viewer("Cloud Viewer");
//blocks until the cloud is actually rendered
(cloud);
//use the following functions to get access to the underlying more advanced/powerful
//PCLVisualizer
//This will only get called once
(viewerOneOff);
//This will get called once per visualization iteration
(viewerPsycho);
while (!())
{
//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;
}
Simply change VTK_MODULE_INIT(vtkRenderingOpenGL); to VTK_MODULE_INIT(vtkRenderingOpenGL2);