超详细保姆级PCL1.14.0 安装配置流程

y_600

已于 2024-03-26 11:53:17 修改

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分类专栏：点云数据处理 PCL c++ 文章标签： c++ visual studio windows 算法 3d 经验分享信息可视化

于 2024-03-25 18:49:46 首次发布

本文链接：https://blog.csdn.net/2301_76657565/article/details/137012393

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前提：安装vs2022（官网可以直接下载）

时间：2024.03.25

一.下载pcl安装包并安装

1.在GitHub下载安装包Releases · PointCloudLibrary/pcl (github.com)，下载前两个

2.下载完成后双击exe文件，出现用户账户控制弹窗时点击是

3.出现安装引导，点击下一步

4.许可证协议，点击我接受

5.如下图，选择第二项，并看自己习惯是否勾选添加桌面快捷方式，点击下一步

6.选择安装路径，建议默认即可，点击下一步

7.选择开始菜单文件夹，默认即可，什么都不用改，直接点击下一步

8.还是默认即可，点击安装

9.过程较慢，请耐心等待

10.如果出现以下弹窗，点击安装

11.点击完成

二.系统环境变量配置

1.打开电脑设置-系统-系统信息，找到高级系统设置，打开

2.点击环境变量

3.选中path，点击编辑

4.点击新建，依次添加以下八项

%PCL_ROOT%\bin

%PCL_ROOT%\3rdParty\VTK\bin

%PCL_ROOT%\3rdParty\FLANN\bin

C:\Program Files\OpenNI2\Tools

%PCL_ROOT%\3rdParty\Qhull\bin

%OPENNI2_REDIST64%

%OPENNI2_LIB64%

%OPENNI2_INCLUDE64%

之后点击确定

5.点击确定再点击确定关闭这几个弹窗

三.配置vs

1.打开vs，创建新项目

2.选择空项目，点击下一步

3.输入项目名称，点击创建

4.解决方案配置选 Debug x64

5.打开视图-其他窗口-属性管理器

6.右键ReleaseX64，添加属性表，命名为 PCL1.14_Release_x64.props，点击添加

7.双击生成的属性表，找到C/C++-所有选项-SDL检查，设置为否

8.通用属性-VC++目录-包含目录-编辑，添加如下内容

C:\Program Files\PCL 1.14.0\include\pcl-1.14

C:\Program Files\PCL 1.14.0\3rdParty\Boost\include\boost-1_84

C:\Program Files\PCL 1.14.0\3rdParty\Eigen3\include\eigen3

C:\Program Files\PCL 1.14.0\3rdParty\FLANN\include

C:\Program Files\OpenNI2\Include

C:\Program Files\PCL 1.14.0\3rdParty\Qhull\include

C:\Program Files\PCL 1.14.0\3rdParty\VTK\include\vtk-9.3

点击确定

9.C/C++-语言-符合模式，选择否

10.C/C++-预处理器-预处理器定义-编辑，添加以下内容

BOOST_USE_WINDOWS_H

NOMINMAX

_CRT_SECURE_NO_DEPRECATE

点击确定

11.C/C++-代码生成-启用增强指令集，选择高级矢量扩展

12.VC++目录-库目录-编辑，添加如下内容

C:\Program Files\PCL 1.14.0\lib

C:\Program Files\PCL 1.14.0\3rdParty\Boost\lib

C:\Program Files\PCL 1.14.0\3rdParty\FLANN\lib

C:\Program Files\OpenNI2\Lib

C:\Program Files\PCL 1.14.0\3rdParty\Qhull\lib

C:\Program Files\PCL 1.14.0\3rdParty\VTK\lib

点击确定

13.链接器-输入-附加依赖项-编辑，输入以下内容：

pcl_common.lib
pcl_features.lib
pcl_filters.lib
pcl_io.lib
pcl_io_ply.lib
pcl_kdtree.lib
pcl_keypoints.lib
pcl_ml.lib
pcl_octree.lib
pcl_outofcore.lib
pcl_people.lib
pcl_recognition.lib
pcl_registration.lib
pcl_sample_consensus.lib
pcl_search.lib
pcl_segmentation.lib
pcl_stereo.lib
pcl_surface.lib
pcl_tracking.lib
pcl_visualization.lib
vtkcgns-9.3.lib
vtkChartsCore-9.3.lib
vtkCommonColor-9.3.lib
vtkCommonComputationalGeometry-9.3.lib
vtkCommonCore-9.3.lib
vtkCommonDataModel-9.3.lib
vtkCommonExecutionModel-9.3.lib
vtkCommonMath-9.3.lib
vtkCommonMisc-9.3.lib
vtkCommonSystem-9.3.lib
vtkCommonTransforms-9.3.lib
vtkDICOMParser-9.3.lib
vtkDomainsChemistry-9.3.lib
vtkDomainsChemistryOpenGL2-9.3.lib
vtkdoubleconversion-9.3.lib
vtkexodusII-9.3.lib
vtkexpat-9.3.lib
vtkFiltersAMR-9.3.lib
vtkFiltersCellGrid-9.3.lib
vtkFiltersCore-9.3.lib
vtkFiltersExtraction-9.3.lib
vtkFiltersFlowPaths-9.3.lib
vtkFiltersGeneral-9.3.lib
vtkFiltersGeneric-9.3.lib
vtkFiltersGeometry-9.3.lib
vtkFiltersGeometryPreview-9.3.lib
vtkFiltersHybrid-9.3.lib
vtkFiltersHyperTree-9.3.lib
vtkFiltersImaging-9.3.lib
vtkFiltersModeling-9.3.lib
vtkFiltersParallel-9.3.lib
vtkFiltersParallelImaging-9.3.lib
vtkFiltersPoints-9.3.lib
vtkFiltersProgrammable-9.3.lib
vtkFiltersReduction-9.3.lib
vtkFiltersSelection-9.3.lib
vtkFiltersSMP-9.3.lib
vtkFiltersSources-9.3.lib
vtkFiltersStatistics-9.3.lib
vtkFiltersTensor-9.3.lib
vtkFiltersTexture-9.3.lib
vtkFiltersTopology-9.3.lib
vtkFiltersVerdict-9.3.lib
vtkfmt-9.3.lib
vtkfreetype-9.3.lib
vtkGeovisCore-9.3.lib
vtkgl2ps-9.3.lib
vtkglew-9.3.lib
vtkhdf5-9.3.lib
vtkhdf5_hl-9.3.lib
vtkImagingColor-9.3.lib
vtkImagingCore-9.3.lib
vtkImagingFourier-9.3.lib
vtkImagingGeneral-9.3.lib
vtkImagingHybrid-9.3.lib
vtkImagingMath-9.3.lib
vtkImagingMorphological-9.3.lib
vtkImagingSources-9.3.lib
vtkImagingStatistics-9.3.lib
vtkImagingStencil-9.3.lib
vtkInfovisCore-9.3.lib
vtkInfovisLayout-9.3.lib
vtkInteractionImage-9.3.lib
vtkInteractionStyle-9.3.lib
vtkInteractionWidgets-9.3.lib
vtkIOAMR-9.3.lib
vtkIOAsynchronous-9.3.lib
vtkIOCellGrid-9.3.lib
vtkIOCesium3DTiles-9.3.lib
vtkIOCGNSReader-9.3.lib
vtkIOChemistry-9.3.lib
vtkIOCityGML-9.3.lib
vtkIOCONVERGECFD-9.3.lib
vtkIOCore-9.3.lib
vtkIOEnSight-9.3.lib
vtkIOExodus-9.3.lib
vtkIOExport-9.3.lib
vtkIOExportGL2PS-9.3.lib
vtkIOExportPDF-9.3.lib
vtkIOFLUENTCFF-9.3.lib
vtkIOGeometry-9.3.lib
vtkIOHDF-9.3.lib
vtkIOImage-9.3.lib
vtkIOImport-9.3.lib
vtkIOInfovis-9.3.lib
vtkIOIOSS-9.3.lib
vtkIOLegacy-9.3.lib
vtkIOLSDyna-9.3.lib
vtkIOMINC-9.3.lib
vtkIOMotionFX-9.3.lib
vtkIOMovie-9.3.lib
vtkIONetCDF-9.3.lib
vtkIOOggTheora-9.3.lib
vtkIOParallel-9.3.lib
vtkIOParallelXML-9.3.lib
vtkIOPLY-9.3.lib
vtkIOSegY-9.3.lib
vtkIOSQL-9.3.lib
vtkioss-9.3.lib
vtkIOTecplotTable-9.3.lib
vtkIOVeraOut-9.3.lib
vtkIOVideo-9.3.lib
vtkIOXML-9.3.lib
vtkIOXMLParser-9.3.lib
vtkjpeg-9.3.lib
vtkjsoncpp-9.3.lib
vtkkissfft-9.3.lib
vtklibharu-9.3.lib
vtklibproj-9.3.lib
vtklibxml2-9.3.lib
vtkloguru-9.3.lib
vtklz4-9.3.lib
vtklzma-9.3.lib
vtkmetaio-9.3.lib
vtknetcdf-9.3.lib
vtkogg-9.3.lib
vtkParallelCore-9.3.lib
vtkParallelDIY-9.3.lib
vtkpng-9.3.lib
vtkpugixml-9.3.lib
vtkRenderingAnnotation-9.3.lib
vtkRenderingCellGrid-9.3.lib
vtkRenderingContext2D-9.3.lib
vtkRenderingContextOpenGL2-9.3.lib
vtkRenderingCore-9.3.lib
vtkRenderingFreeType-9.3.lib
vtkRenderingGL2PSOpenGL2-9.3.lib
vtkRenderingHyperTreeGrid-9.3.lib
vtkRenderingImage-9.3.lib
vtkRenderingLabel-9.3.lib
vtkRenderingLICOpenGL2-9.3.lib
vtkRenderingLOD-9.3.lib
vtkRenderingOpenGL2-9.3.lib
vtkRenderingSceneGraph-9.3.lib
vtkRenderingUI-9.3.lib
vtkRenderingVolume-9.3.lib
vtkRenderingVolumeOpenGL2-9.3.lib
vtkRenderingVtkJS-9.3.lib
vtksqlite-9.3.lib
vtksys-9.3.lib
vtkTestingRendering-9.3.lib
vtktheora-9.3.lib
vtktiff-9.3.lib
vtkverdict-9.3.lib
vtkViewsContext2D-9.3.lib
vtkViewsCore-9.3.lib
vtkViewsInfovis-9.3.lib
vtkWrappingTools-9.3.lib
vtkzlib-9.3.lib

14.点击应用，确定

15.在项目名称上右键，点击属性

16.调试–环境–编辑—添加以下内容

PATH=$(PCL_ROOT)\bin;$(PCL_ROOT)\3rdParty\FLANN\bin;$(PCL_ROOT)\3rdParty\VTK\bin;$(PCL_ROOT)\3rdParty\Qhull\bin;C:\Program Files\OpenNI2\Tools;$(PATH)

点击确定

17.点击应用，确定

18.左侧属性管理器中，右键PCL1.14_Release_x64，点击保存

19.6.右键DebugX64，添加属性表，命名为 PCL1.14_Debug_x64.props，点击添加

20.双击生成的属性表，重复7到12步

21.链接器-输入-附加依赖项-编辑，输入以下内容（注意内容与13步不同）：

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
vtkcgns-9.3-gd.lib
vtkChartsCore-9.3-gd.lib
vtkCommonColor-9.3-gd.lib
vtkCommonComputationalGeometry-9.3-gd.lib
vtkCommonCore-9.3-gd.lib
vtkCommonDataModel-9.3-gd.lib
vtkCommonExecutionModel-9.3-gd.lib
vtkCommonMath-9.3-gd.lib
vtkCommonMisc-9.3-gd.lib
vtkCommonSystem-9.3-gd.lib
vtkCommonTransforms-9.3-gd.lib
vtkDICOMParser-9.3-gd.lib
vtkDomainsChemistry-9.3-gd.lib
vtkDomainsChemistryOpenGL2-9.3-gd.lib
vtkdoubleconversion-9.3-gd.lib
vtkexodusII-9.3-gd.lib
vtkexpat-9.3-gd.lib
vtkFiltersAMR-9.3-gd.lib
vtkFiltersCore-9.3-gd.lib
vtkFiltersExtraction-9.3-gd.lib
vtkFiltersFlowPaths-9.3-gd.lib
vtkFiltersGeneral-9.3-gd.lib
vtkFiltersGeneric-9.3-gd.lib
vtkFiltersGeometry-9.3-gd.lib
vtkFiltersHybrid-9.3-gd.lib
vtkFiltersHyperTree-9.3-gd.lib
vtkFiltersImaging-9.3-gd.lib
vtkFiltersModeling-9.3-gd.lib
vtkFiltersParallel-9.3-gd.lib
vtkFiltersParallelImaging-9.3-gd.lib
vtkFiltersPoints-9.3-gd.lib
vtkFiltersProgrammable-9.3-gd.lib
vtkFiltersSelection-9.3-gd.lib
vtkFiltersSMP-9.3-gd.lib
vtkFiltersSources-9.3-gd.lib
vtkFiltersStatistics-9.3-gd.lib
vtkFiltersTexture-9.3-gd.lib
vtkFiltersTopology-9.3-gd.lib
vtkFiltersVerdict-9.3-gd.lib
vtkfmt-9.3-gd.lib
vtkfreetype-9.3-gd.lib
vtkGeovisCore-9.3-gd.lib
vtkgl2ps-9.3-gd.lib
vtkglew-9.3-gd.lib
vtkhdf5-9.3-gd.lib
vtkhdf5_hl-9.3-gd.lib
vtkImagingColor-9.3-gd.lib
vtkImagingCore-9.3-gd.lib
vtkImagingFourier-9.3-gd.lib
vtkImagingGeneral-9.3-gd.lib
vtkImagingHybrid-9.3-gd.lib
vtkImagingMath-9.3-gd.lib
vtkImagingMorphological-9.3-gd.lib
vtkImagingSources-9.3-gd.lib
vtkImagingStatistics-9.3-gd.lib
vtkImagingStencil-9.3-gd.lib
vtkInfovisCore-9.3-gd.lib
vtkInfovisLayout-9.3-gd.lib
vtkInteractionImage-9.3-gd.lib
vtkInteractionStyle-9.3-gd.lib
vtkInteractionWidgets-9.3-gd.lib
vtkIOAMR-9.3-gd.lib
vtkIOAsynchronous-9.3-gd.lib
vtkIOCesium3DTiles-9.3-gd.lib
vtkIOCGNSReader-9.3-gd.lib
vtkIOChemistry-9.3-gd.lib
vtkIOCityGML-9.3-gd.lib
vtkIOCONVERGECFD-9.3-gd.lib
vtkIOCore-9.3-gd.lib
vtkIOEnSight-9.3-gd.lib
vtkIOExodus-9.3-gd.lib
vtkIOExport-9.3-gd.lib
vtkIOExportGL2PS-9.3-gd.lib
vtkIOExportPDF-9.3-gd.lib
vtkIOGeometry-9.3-gd.lib
vtkIOHDF-9.3-gd.lib
vtkIOImage-9.3-gd.lib
vtkIOImport-9.3-gd.lib
vtkIOInfovis-9.3-gd.lib
vtkIOIOSS-9.3-gd.lib
vtkIOLegacy-9.3-gd.lib
vtkIOLSDyna-9.3-gd.lib
vtkIOMINC-9.3-gd.lib
vtkIOMotionFX-9.3-gd.lib
vtkIOMovie-9.3-gd.lib
vtkIONetCDF-9.3-gd.lib
vtkIOOggTheora-9.3-gd.lib
vtkIOParallel-9.3-gd.lib
vtkIOParallelXML-9.3-gd.lib
vtkIOPLY-9.3-gd.lib
vtkIOSegY-9.3-gd.lib
vtkIOSQL-9.3-gd.lib
vtkioss-9.3-gd.lib
vtkIOTecplotTable-9.3-gd.lib
vtkIOVeraOut-9.3-gd.lib
vtkIOVideo-9.3-gd.lib
vtkIOXML-9.3-gd.lib
vtkIOXMLParser-9.3-gd.lib
vtkjpeg-9.3-gd.lib
vtkjsoncpp-9.3-gd.lib
vtkkissfft-9.3-gd.lib
vtklibharu-9.3-gd.lib
vtklibproj-9.3-gd.lib
vtklibxml2-9.3-gd.lib
vtkloguru-9.3-gd.lib
vtklz4-9.3-gd.lib
vtklzma-9.3-gd.lib
vtkmetaio-9.3-gd.lib
vtknetcdf-9.3-gd.lib
vtkogg-9.3-gd.lib
vtkParallelCore-9.3-gd.lib
vtkParallelDIY-9.3-gd.lib
vtkpng-9.3-gd.lib
vtkpugixml-9.3-gd.lib
vtkRenderingAnnotation-9.3-gd.lib
vtkRenderingContext2D-9.3-gd.lib
vtkRenderingContextOpenGL2-9.3-gd.lib
vtkRenderingCore-9.3-gd.lib
vtkRenderingFreeType-9.3-gd.lib
vtkRenderingGL2PSOpenGL2-9.3-gd.lib
vtkRenderingHyperTreeGrid-9.3-gd.lib
vtkRenderingImage-9.3-gd.lib
vtkRenderingLabel-9.3-gd.lib
vtkRenderingLICOpenGL2-9.3-gd.lib
vtkRenderingLOD-9.3-gd.lib
vtkRenderingOpenGL2-9.3-gd.lib
vtkRenderingSceneGraph-9.3-gd.lib
vtkRenderingUI-9.3-gd.lib
vtkRenderingVolume-9.3-gd.lib
vtkRenderingVolumeOpenGL2-9.3-gd.lib
vtkRenderingVtkJS-9.3-gd.lib
vtksqlite-9.3-gd.lib
vtksys-9.3-gd.lib
vtkTestingRendering-9.3-gd.lib
vtktheora-9.3-gd.lib
vtktiff-9.3-gd.lib
vtkverdict-9.3-gd.lib
vtkViewsContext2D-9.3-gd.lib
vtkViewsCore-9.3-gd.lib
vtkViewsInfovis-9.3-gd.lib
vtkWrappingTools-9.3-gd.lib
vtkzlib-9.3-gd.lib

22.点击应用，确定

配置完成，电脑重启，即可生效！

四.测试

1.在右侧源文件上右键，添加-新建项

2.复制以下内容进去

#include <iostream>
#include <vector>
#include <ctime>
#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>
#include <boost/thread/thread.hpp>
#include <pcl/visualization/pcl_visualizer.h>
using namespace std;
int main(int argc, char** argv)
{
	srand((unsigned int)time(NULL));
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	// 创建点云数据
	cloud->width = 1000;
	cloud->height = 1;
	cloud->points.resize(cloud->width * cloud->height);
	for (size_t i = 0; i < cloud->points.size(); ++i)
	{
		cloud->points[i].x = 1024.0f * rand() / (RAND_MAX + 1.0f);
		cloud->points[i].y = 1024.0f * rand() / (RAND_MAX + 1.0f);
		cloud->points[i].z = 1024.0f * rand() / (RAND_MAX + 1.0f);
	}

	pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(0.1);
	octree.setInputCloud(cloud);
	octree.addPointsFromInputCloud();
	pcl::PointXYZ searchPoint;
	searchPoint.x = 1024.0f * rand() / (RAND_MAX + 1.0f);
	searchPoint.y = 1024.0f * rand() / (RAND_MAX + 1.0f);
	searchPoint.z = 1024.0f * rand() / (RAND_MAX + 1.0f);

	//半径内近邻搜索
	vector<int>pointIdxRadiusSearch;
	vector<float>pointRadiusSquaredDistance;
	float radius = 256.0f * rand() / (RAND_MAX + 1.0f);
	cout << "Neighbors within radius search at (" << searchPoint.x
		<< " " << searchPoint.y
		<< " " << searchPoint.z
		<< ") with radius=" << radius << endl;
	if (octree.radiusSearch(searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance) > 0)
	{
		for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i)
			cout << "    " << cloud->points[pointIdxRadiusSearch[i]].x
			<< " " << cloud->points[pointIdxRadiusSearch[i]].y
			<< " " << cloud->points[pointIdxRadiusSearch[i]].z
			<< " (squared distance: " << pointRadiusSquaredDistance[i] << ")" << endl;
	}
	// 初始化点云可视化对象
	boost::shared_ptr<pcl::visualization::PCLVisualizer>viewer(new pcl::visualization::PCLVisualizer("显示点云"));
	viewer->setBackgroundColor(0, 0, 0);  //设置背景颜色为黑色
	// 对点云着色可视化 (red).
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>target_color(cloud, 255, 0, 0);
	viewer->addPointCloud<pcl::PointXYZ>(cloud, target_color, "target cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "target cloud");

	// 等待直到可视化窗口关闭
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(1000));
	}

	return (0);
}