win10+pcl1.8.1+vs2015超详细配置方案加安装遇到的问题

入手pcl点云库，发现网上的教程很多不太全，或者比较简单的描述，记录下来，防止换电脑又花大把时间在查教程上。

一。准备工作

   vs2015 +PCL-1.8.1-AllInOne-msvc2015-win64.exe、属性表和PDB其中，属性表可以不下载。

注：1.pcl用1.8还是1.9取决于你电脑装的vs版本

       2.pcl具体用的1.8几要注意后面（*）处不同版本的不同

      二。win10下的安装步骤

      

1.点击PCL-1.8.1-AllInOne-msvc2015-win64.exe一键安装，可以默认也可以自己选择安装路径，如本文所选择的路径为默认安装路径H:\BaiduNetdiskDownload\pcl；

2.在安装过程中，OpenNI2在安装时会弹出界面，选择目录H:\BaiduNetdiskDownload\pcl\PCL 1.8.1\3rdParty\OpenNI2；

3.等待一段时间，则安装完成。

注意事项：在安装点击“我接收(I)”之后弹出来的对话框中一定要选择第二项AddPCL to the system PATH for all users：

 

三。系统配置步骤

1.点击win7的控制面板->系统->高级系统设置->在系统属性的“高级选项”卡下点击“环境变量”；

2.在系统子菜单里面找到“Path”，如图：

3.点击编辑，添加如下：

 

注意：1.第一项在“一键安装”时就已经添加。

4.重启电脑

 

四、VS2015工程配置步骤（以下所有H:\BaiduNetdiskDownload\pcl取决于你的安装目录，每步完成后都要点击应用）

1.打开VS2015，创建新的win32控制台工程，建好后将平台改成X64；

2.点击视图-属性管理器-Debug|x64添加新项目属性表，如图：

     

 

3.在弹出的对话框中，修改配置属性-vc++目录-包含目录-编辑，完成后点击应用

 

 

4.在弹出的对话框中，修改配置属性-常规-库目录-编辑，完成后点击应用

5.点击连接器->输入->附加依赖项，编辑，添加下列文件名，完成后点击应用

添加文件名：

  注：上传的为debug模式下的依赖文件；需要release版本，只需将下列文件名中的debug替换成release即可；

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_ml_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_stereo_debug.lib

pcl_surface_debug.lib

pcl_tracking_debug.lib

pcl_visualization_debug.lib

libboost_atomic-vc140-mt-gd-1_64.lib

libboost_bzip2-vc140-mt-gd-1_64.lib

libboost_chrono-vc140-mt-gd-1_64.lib

libboost_container-vc140-mt-gd-1_64.lib

libboost_context-vc140-mt-gd-1_64.lib

libboost_coroutine-vc140-mt-gd-1_64.lib

libboost_date_time-vc140-mt-gd-1_64.lib

libboost_exception-vc140-mt-gd-1_64.lib

libboost_fiber-vc140-mt-gd-1_64.lib

libboost_filesystem-vc140-mt-gd-1_64.lib

libboost_graph_parallel-vc140-mt-gd-1_64.lib

libboost_graph-vc140-mt-gd-1_64.lib

libboost_iostreams-vc140-mt-gd-1_64.lib

libboost_locale-vc140-mt-gd-1_64.lib

libboost_log-vc140-mt-gd-1_64.lib

libboost_log_setup-vc140-mt-gd-1_64.lib

libboost_math_c99-vc140-mt-gd-1_64.lib

libboost_math_c99f-vc140-mt-gd-1_64.lib

libboost_math_c99l-vc140-mt-gd-1_64.lib

libboost_math_tr1-vc140-mt-gd-1_64.lib

libboost_math_tr1f-vc140-mt-gd-1_64.lib

libboost_math_tr1l-vc140-mt-gd-1_64.lib

libboost_mpi-vc140-mt-gd-1_64.lib

libboost_numpy3-vc140-mt-gd-1_64.lib

libboost_numpy-vc140-mt-gd-1_64.lib

libboost_prg_exec_monitor-vc140-mt-gd-1_64.lib

libboost_program_options-vc140-mt-gd-1_64.lib

libboost_python3-vc140-mt-gd-1_64.lib

libboost_python-vc140-mt-gd-1_64.lib

libboost_random-vc140-mt-gd-1_64.lib

libboost_regex-vc140-mt-gd-1_64.lib

libboost_serialization-vc140-mt-gd-1_64.lib

libboost_signals-vc140-mt-gd-1_64.lib

libboost_system-vc140-mt-gd-1_64.lib

libboost_test_exec_monitor-vc140-mt-gd-1_64.lib

libboost_thread-vc140-mt-gd-1_64.lib

libboost_timer-vc140-mt-gd-1_64.lib

libboost_type_erasure-vc140-mt-gd-1_64.lib

libboost_unit_test_framework-vc140-mt-gd-1_64.lib

libboost_wave-vc140-mt-gd-1_64.lib

libboost_wserialization-vc140-mt-gd-1_64.lib

libboost_zlib-vc140-mt-gd-1_64.lib

vtkzlib-8.0-gd.lib

vtkViewsContext2D-8.0-gd.lib

vtkhdf5_hl-8.0-gd.lib

vtkFiltersProgrammable-8.0-gd.lib

vtkIOMovie-8.0-gd.lib

vtkexpat-8.0-gd.lib

vtkRenderingLOD-8.0-gd.lib

vtkIOPLY-8.0-gd.lib

vtkpng-8.0-gd.lib

vtkIOVideo-8.0-gd.lib

vtkRenderingImage-8.0-gd.lib

vtkFiltersVerdict-8.0-gd.lib

vtkjpeg-8.0-gd.lib

vtkInteractionImage-8.0-gd.lib

vtkverdict-8.0-gd.lib

vtkoggtheora-8.0-gd.lib

vtkImagingStatistics-8.0-gd.lib

vtkCommonSystem-8.0-gd.lib

vtkFiltersParallelImaging-8.0-gd.lib

vtkFiltersTexture-8.0-gd.lib

vtkCommonMisc-8.0-gd.lib

vtkCommonMath-8.0-gd.lib

vtkFiltersSelection-8.0-gd.lib

vtkImagingFourier-8.0-gd.lib

vtkIOXMLParser-8.0-gd.lib

vtkproj4-8.0-gd.lib

vtkalglib-8.0-gd.lib

vtktiff-8.0-gd.lib

vtksqlite-8.0-gd.lib

vtkImagingSources-8.0-gd.lib

vtkCommonTransforms-8.0-gd.lib

vtkImagingMath-8.0-gd.lib

vtkFiltersGeneric-8.0-gd.lib

vtkexoIIc-8.0-gd.lib

vtkfreetype-8.0-gd.lib

vtkImagingColor-8.0-gd.lib

vtknetcdf_c++-gd.lib

vtkNetCDF-8.0-gd.lib

vtkFiltersImaging-8.0-gd.lib

vtkFiltersHyperTree-8.0-gd.lib

vtkImagingMorphological-8.0-gd.lib

vtkImagingStencil-8.0-gd.lib

vtkRenderingFreeType-8.0-gd.lib

vtkCommonColor-8.0-gd.lib

vtkjsoncpp-8.0-gd.lib

vtkRenderingContext2D-8.0-gd.lib

vtkFiltersAMR-8.0-gd.lib

vtkRenderingContextOpenGL-8.0-gd.lib

vtkIOParallelXML-8.0-gd.lib

vtkViewsCore-8.0-gd.lib

vtkImagingHybrid-8.0-gd.lib

vtkIOExport-8.0-gd.lib

vtkRenderingVolumeOpenGL-8.0-gd.lib

vtkIOImport-8.0-gd.lib

vtkDomainsChemistry-8.0-gd.lib

vtkInteractionStyle-8.0-gd.lib

vtkCommonComputationalGeometry-8.0-gd.lib

vtkDICOMParser-8.0-gd.lib

vtklibxml2-8.0-gd.lib

vtkIOMINC-8.0-gd.lib

vtkIOSQL-8.0-gd.lib

vtkFiltersModeling-8.0-gd.lib

vtkParallelCore-8.0-gd.lib

vtkIOAMR-8.0-gd.lib

vtkGeovisCore-8.0-gd.lib

vtksys-8.0-gd.lib

vtkIOEnSight-8.0-gd.lib

vtkImagingGeneral-8.0-gd.lib

vtkFiltersFlowPaths-8.0-gd.lib

vtkIOLSDyna-8.0-gd.lib

vtkFiltersSMP-8.0-gd.lib

vtkIOParallel-8.0-gd.lib

vtkFiltersGeometry-8.0-gd.lib

vtkInfovisLayout-8.0-gd.lib

vtkIOCore-8.0-gd.lib

vtkFiltersSources-8.0-gd.lib

vtkIOLegacy-8.0-gd.lib

vtkFiltersHybrid-8.0-gd.lib

vtkIONetCDF-8.0-gd.lib

vtkFiltersExtraction-8.0-gd.lib

vtkFiltersParallel-8.0-gd.lib

vtkRenderingLabel-8.0-gd.lib

vtkIOInfovis-8.0-gd.lib

vtkRenderingAnnotation-8.0-gd.lib

vtkImagingCore-8.0-gd.lib

vtkCommonExecutionModel-8.0-gd.lib

vtkhdf5-8.0-gd.lib

vtkViewsInfovis-8.0-gd.lib

vtkIOGeometry-8.0-gd.lib

vtkmetaio-8.0-gd.lib

vtkIOImage-8.0-gd.lib

vtkIOXML-8.0-gd.lib

vtkIOExodus-8.0-gd.lib

vtkRenderingVolume-8.0-gd.lib

vtkChartsCore-8.0-gd.lib

vtkFiltersStatistics-8.0-gd.lib

vtkInfovisCore-8.0-gd.lib

vtkRenderingCore-8.0-gd.lib

vtkInteractionWidgets-8.0-gd.lib

vtkRenderingOpenGL-8.0-gd.lib

vtkFiltersGeneral-8.0-gd.lib

vtkFiltersCore-8.0-gd.lib

vtkCommonDataModel-8.0-gd.lib

vtkCommonCore-8.0-gd.lib

flann_cpp_s-gd.lib

qhullstatic_d.lib

OpenNI2.lib

 

至此配置初步完毕，用网上例子检测运行。

#include <iostream>  
#include <pcl/io/pcd_io.h>  
#include <pcl/point_types.h>  
#include <pcl/ModelCoefficients.h>  
#include <pcl/filters/project_inliers.h>  
  
int main(int argc, char** argv)  
{  
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);  
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);  
  
    // Fill in the cloud data  
    cloud->width = 5;  
    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 * rand() / (RAND_MAX + 1.0f);  
        cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);  
        cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);  
    }  
  
    std::cerr << "Cloud before projection: " << std::endl;  
    for (size_t i = 0; i < cloud->points.size(); ++i)  
        std::cerr << "    " << cloud->points[i].x << " "  
        << cloud->points[i].y << " "  
        << cloud->points[i].z << std::endl;  
  
    // Create a set of planar coefficients with X=Y=0,Z=1  
    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());  
    coefficients->values.resize(4);  
    coefficients->values[0] = coefficients->values[1] = 0;  
    coefficients->values[2] = 1.0;  
    coefficients->values[3] = 0;  
  
    // Create the filtering object  
    pcl::ProjectInliers<pcl::PointXYZ> proj;  
    proj.setModelType(pcl::SACMODEL_PLANE);  
    proj.setInputCloud(cloud);  
    proj.setModelCoefficients(coefficients);  
    proj.filter(*cloud_projected);  
  
    std::cerr << "Cloud after projection: " << std::endl;  
    for (size_t i = 0; i < cloud_projected->points.size(); ++i)  
        std::cerr << "    " << cloud_projected->points[i].x << " "  
        << cloud_projected->points[i].y << " "  
        << cloud_projected->points[i].z << std::endl;  
  
    system("pause");  
    return (0);  
}  

 

结果如下：

 

注：以上形成的props文件放在一个易于记住的地方以后就不用再配

 

问题：

一 。遇到问题 无法打开所有以pcl开头的源文件

   解决方案：1.点击项目（ConsoleApplication4），双击在弹出对话框里选择配置：debug，平台（x64）；

                    点击配置属性下的调试，右边有个环境项，把值设置为：PATH=$(PCL_ROOT)bin;$(PCL_ROOT)3rdPartyFLANNbin;$(PCL_ROOT)3rdPartyVTKbin;$(PCL_ROOT)Qhullbin;$(PCL_ROOT)3rdPartyOpenNI2Tools;$(PATH)

  2.点击配置属性下的CC++，点击它的子项预处理器，右边有个预处理器定义，添加上_SCL_SECURE_NO_WARNINGS           和              _CRT_SECURE_NO_WARNINGS。

 

3.点击配置属性下的CC++,常规-附加包含目录中添加：H:\BaiduNetdiskDownload\pcl\PCL 1.8.1\3rdParty\Boost\include\boost-1_61

4.点击vc++目录-包含目录，编辑，添加如下目录，解决

二。找不到libboost_atomic-vc140-mt-1_61.lib

    解决方案：用错了依赖库，这是pcl1.8.0的依赖库

三。H:\BaiduNetdiskDownload\pcl\PCL 1.8.1\3rdParty\OpenNI2目录下，只有OpenNI-Windows-x64-2.2.msi，无其他文件夹

   解决方案：将OpenNI2卸了，重装在上文指定目录下。