开源PCL使用API​​查看3D点云

问题描述

我使用ToF(飞行时间)相机获取XYZ格式的深度数据.

I use a ToF (Time of Flight) camera to obtain depth data in XYZ format.

出于可视化目的，将其用作3D点云，我想使用 http://pointclouds.org/documentation/tutorials/pcl_visualizer.php

For visualization purpose as a 3D point cloud, I want to use the APIs provided by open source PCL mentioned at http://pointclouds.org/documentation/tutorials/pcl_visualizer.php

为了构建在单独的显示线程中运行的点云GUI，要看的一个好的入门指南示例(.cpp)文件是什么?

What is a good starter tutoarial example (.cpp) file to look at in order to construct a point cloud GUI running in a separate display thread ?

推荐答案

1. 您似乎没有链接PCL可视化lib文件，也可能未链接其他文件.在项目属性>链接器>输入>其他依赖关系中执行此操作. PCL lib目录的路径应在项目属性> VC ++目录>库目录中指定.同时，应在项目属性> VC ++目录>包含目录中指定PCL包含目录的路径.
2. PCL函数和类型以点类型为模板.因此，您将使用pcl::PointXYZ作为所有功能的点类型.
3. 不.您将与 CloudViewer教程 CloudViewer教程.
4. 您不会将PCL .h和.cpp文件复制到您的解决方案中.您#include保留在其安装位置的PCL标头，并链接到PCL lib文件中(请参见上面的1).
5. 没有.如果PCL bin/目录不在$ PATH中，则将PCL .dlls放在.exe旁边.

1. Looks like you're not linking the PCL visualization lib file and probably others. Do this in the project properties > Linker > Input > Additional Dependencies. The path to your PCL lib directory should be specified in Project properties > VC++ Directories > Library Directories. At the same time the path to your PCL include directory should be specified in Project properties > VC++ Directories > Include Directories.
2. PCL functions and types are templated on the point type. So you will use pcl::PointXYZ as the point type for all functions.
3. No. Yours will be more similar to the Simple Cloud Visualization example in the CloudViewer tutorial.
4. You don't copy the PCL .h and .cpp files into your solution. You #include the PCL headers that remain in their installed location, and you link in the PCL lib files, (see 1 above.)
5. None. If the PCL bin/ directory is not in your $PATH then place the PCL .dlls alongside your .exe.

确保将发布库与发布版本匹配，将调试库与调试版本匹配.确保您要为Win32或x64进行构建，具体取决于安装的是哪种预安装的二进制文件.

Make sure you match release libraries with a release build and debug libraries with a debug build. Make sure you're building either for Win32 or x64 depending on which pre-installed binary you installed.

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