VS2017配置PCL1.9.0

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最新推荐文章于 2024-06-11 17:15:12 发布

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分类专栏：点云学习经验分享文章标签： c++ github visualstudio 改行学it 经验分享

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3.2.6 附加依赖项：分Debug版本和Release版本

3.2.7 最后检查一下如图内容：SDL检查--选择‘否’

4.代码测试

默认已经安装VS2017且有C++环境（其他版本也可参考）

1. GitHub下载PCL1.9.0

下载如图两个文件：.exe和.zip压缩包文件，放置到文件夹下。

https://github.com/PointCloudLibrary/pcl/releases

2.PCL1.9.0安装

打开下载的PCL1.9.0所在的目录，双击运行.exe文件，按提示一步步安装，安装步骤很简单。

在安装过程中，会出现以下界面，勾选上Add PCL to system PATH for all users

修改安装路径到你想要的位置，下图所示安装在D盘（默认的是C盘）

重要提醒，PCL安装路径中默认设置一个空格需要删除！！！（请仔细检查一下）

安装过程中，会弹出OpenNI的安装程序，更改安装路径为你安装的PCL路径下的3rdParty文件夹下的OpenNI2文件夹中。

解压pcl-1.9.0-pdb-msvc2017-win64.zip得到对应的文件夹，CTRL+A全选复制文件夹里面的所有内容到你PCL安装路径下的bin文件夹。

到此PCL已经安装成功。

3.VS2017配置PCL1.9.0

这一步比较繁琐，请耐心。。。

3.1 系统变量配置

我的电脑右键-->属性-->高级系统设置-->高级-->环境变量-->系统变量-->Path-->编辑-->新建

添加如下图所示目录，对应你自己安装的文件夹。

D:\PCL1.9.0\bin;

D:\PCL1.9.0\3rdParty\FLANN\bin;

D:\PCL1.9.0\3rdParty\Qhull\bin;

D:\PCL1.9.0\3rdParty\VTK\bin;

D:\PCL1.9.0\3rdParty\OpenNI2\Tools;

3.2 配置VS2017

（重点，此处分Release版本和Debug版本，只有一步不一样，后续会有注明，还要注意64位还是32位）

3.2.1 打开VS新建一个空项目

在解决方案管理器里找到你新建的项目，右键-添加-新建项，新建一个.cpp文件

同样在解决方案管理器里找到你新建的项目，右键点击属性，弹出属性页窗口，选好配置和平台选项。

3.2.2 新建属性表

我这里选择的是Debug版本。这里推荐使用新建属性表，这样的话你可以配置多个版本，在你需要的时候直接添加对应的属性表就可以了。

属性管理器—>Debug|X64中添加新的属性表“PCL1.9.0X64Debug”（名字可以根据个人习惯取，自己能看得懂就行）。

3.2.3 配置PATH

属性管理器（本文为DebugX64）右键—>属性，如下图所示编辑环境，输入：

PATH=$(PCL_ROOT)bin;$(PCL_ROOT)3rdPartyFLANNbin;$(PCL_ROOT)3rdPartyVTKbin;$(PCL_ROOT)Qhullbin;$(PCL_ROOT)3rdPartyOpenNI2Tools;$(PATH)

新添加的属性表PCL1.9.0X64Debug右键选择属性，如下图添加包含目录和库目录

如下图，先点击空白行出现如图所示界面，点击三个点定位到文件夹目录。

包含目录：

D:\PCL1.9.0\include\pcl-1.9;

D:\PCL1.9.0\3rdParty\Boost\include\boost-1_68;

D:\PCL1.9.0\3rdParty\Eigen\eigen3;

D:\PCL1.9.0\3rdParty\FLANN\include;

D:\PCL1.9.0\3rdParty\Qhull\include;

D:\PCL1.9.0\3rdParty\VTK\include\vtk-8.1;

D:\PCL1.9.0\3rdParty\OpenNI2\Include;

库目录：

D:\PCL1.9.0\lib;

D:\PCL1.9.0\3rdParty\Qhull\lib;

D:\PCL1.9.0\3rdParty\Boost\lib;

D:\PCL1.9.0\3rdParty\FLANN\lib;

D:\PCL1.9.0\3rdParty\OpenNI2\Lib;

D:\PCL1.9.0\3rdParty\VTK\lib;

3.2.5 配置预处理器定义

如下图所示，编辑预处理器定义，添加如下：

_CRT_SECURE_NO_WARNINGS
BOOST_ALL_NO_LIB
BOOST_uSE_WINDOWS_H
NOMINMAX
_SCL_SECURE_NO_WARNINGS
_SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING

3.2.6 附加依赖项：分Debug版本和Release版本

链接器--输入--附加依赖项--编辑输入如下内容

Debug版本：（完整复制如下内容）

vtkalglib-8.1-gd.lib

vtkChartsCore-8.1-gd.lib

vtkCommonColor-8.1-gd.lib

vtkCommonComputationalGeometry-8.1-gd.lib

vtkCommonCore-8.1-gd.lib

vtkCommonDataModel-8.1-gd.lib

vtkCommonExecutionModel-8.1-gd.lib

vtkCommonMath-8.1-gd.lib

vtkCommonMisc-8.1-gd.lib

vtkCommonSystem-8.1-gd.lib

vtkCommonTransforms-8.1-gd.lib

vtkDICOMParser-8.1-gd.lib

vtkDomainsChemistry-8.1-gd.lib

vtkexoIIc-8.1-gd.lib

vtkexpat-8.1-gd.lib

vtkFiltersAMR-8.1-gd.lib

vtkFiltersCore-8.1-gd.lib

vtkFiltersExtraction-8.1-gd.lib

vtkFiltersFlowPaths-8.1-gd.lib

vtkFiltersGeneral-8.1-gd.lib

vtkFiltersGeneric-8.1-gd.lib

vtkFiltersGeometry-8.1-gd.lib

vtkFiltersHybrid-8.1-gd.lib

vtkFiltersHyperTree-8.1-gd.lib

vtkFiltersImaging-8.1-gd.lib

vtkFiltersModeling-8.1-gd.lib

vtkFiltersParallel-8.1-gd.lib

vtkFiltersParallelImaging-8.1-gd.lib

vtkFiltersPoints-8.1-gd.lib

vtkFiltersProgrammable-8.1-gd.lib

vtkFiltersSelection-8.1-gd.lib

vtkFiltersSMP-8.1-gd.lib

vtkFiltersSources-8.1-gd.lib

vtkFiltersStatistics-8.1-gd.lib

vtkFiltersTexture-8.1-gd.lib

vtkFiltersTopology-8.1-gd.lib

vtkFiltersVerdict-8.1-gd.lib

vtkfreetype-8.1-gd.lib

vtkGeovisCore-8.1-gd.lib

vtkgl2ps-8.1-gd.lib

vtkhdf5-8.1-gd.lib

vtkhdf5_hl-8.1-gd.lib

vtkImagingColor-8.1-gd.lib

vtkImagingCore-8.1-gd.lib

vtkImagingFourier-8.1-gd.lib

vtkImagingGeneral-8.1-gd.lib

vtkImagingHybrid-8.1-gd.lib

vtkImagingMath-8.1-gd.lib

vtkImagingMorphological-8.1-gd.lib

vtkImagingSources-8.1-gd.lib

vtkImagingStatistics-8.1-gd.lib

vtkImagingStencil-8.1-gd.lib

vtkInfovisCore-8.1-gd.lib

vtkInfovisLayout-8.1-gd.lib

vtkInteractionImage-8.1-gd.lib

vtkInteractionStyle-8.1-gd.lib

vtkInteractionWidgets-8.1-gd.lib

vtkIOAMR-8.1-gd.lib

vtkIOCore-8.1-gd.lib

vtkIOEnSight-8.1-gd.lib

vtkIOExodus-8.1-gd.lib

vtkIOExport-8.1-gd.lib

vtkIOExportOpenGL-8.1-gd.lib

vtkIOGeometry-8.1-gd.lib

vtkIOImage-8.1-gd.lib

vtkIOImport-8.1-gd.lib

vtkIOInfovis-8.1-gd.lib

vtkIOLegacy-8.1-gd.lib

vtkIOLSDyna-8.1-gd.lib

vtkIOMINC-8.1-gd.lib

vtkIOMovie-8.1-gd.lib

vtkIONetCDF-8.1-gd.lib

vtkIOParallel-8.1-gd.lib

vtkIOParallelXML-8.1-gd.lib

vtkIOPLY-8.1-gd.lib

vtkIOSQL-8.1-gd.lib

vtkIOTecplotTable-8.1-gd.lib

vtkIOVideo-8.1-gd.lib

vtkIOXML-8.1-gd.lib

vtkIOXMLParser-8.1-gd.lib

vtkjpeg-8.1-gd.lib

vtkjsoncpp-8.1-gd.lib

vtklibharu-8.1-gd.lib

vtklibxml2-8.1-gd.lib

vtklz4-8.1-gd.lib

vtkmetaio-8.1-gd.lib

vtkNetCDF-8.1-gd.lib

vtknetcdfcpp-8.1-gd.lib

vtkoggtheora-8.1-gd.lib

vtkParallelCore-8.1-gd.lib

vtkpng-8.1-gd.lib

vtkproj4-8.1-gd.lib

vtkRenderingAnnotation-8.1-gd.lib

vtkRenderingContext2D-8.1-gd.lib

vtkRenderingContextOpenGL-8.1-gd.lib

vtkRenderingCore-8.1-gd.lib

vtkRenderingFreeType-8.1-gd.lib

vtkRenderingGL2PS-8.1-gd.lib

vtkRenderingImage-8.1-gd.lib

vtkRenderingLabel-8.1-gd.lib

vtkRenderingLIC-8.1-gd.lib

vtkRenderingLOD-8.1-gd.lib

vtkRenderingOpenGL-8.1-gd.lib

vtkRenderingVolume-8.1-gd.lib

vtkRenderingVolumeOpenGL-8.1-gd.lib

vtksqlite-8.1-gd.lib

vtksys-8.1-gd.lib

vtktiff-8.1-gd.lib

vtkverdict-8.1-gd.lib

vtkViewsContext2D-8.1-gd.lib

vtkViewsCore-8.1-gd.lib

vtkViewsInfovis-8.1-gd.lib

vtkzlib-8.1-gd.lib

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-vc141-mt-gd-x64-1_68.lib

libboost_bzip2-vc141-mt-gd-x64-1_68.lib

libboost_chrono-vc141-mt-gd-x64-1_68.lib

libboost_container-vc141-mt-gd-x64-1_68.lib

libboost_context-vc141-mt-gd-x64-1_68.lib

libboost_contract-vc141-mt-gd-x64-1_68.lib

libboost_coroutine-vc141-mt-gd-x64-1_68.lib

libboost_date_time-vc141-mt-gd-x64-1_68.lib

libboost_exception-vc141-mt-gd-x64-1_68.lib

libboost_fiber-vc141-mt-gd-x64-1_68.lib

libboost_filesystem-vc141-mt-gd-x64-1_68.lib

libboost_graph-vc141-mt-gd-x64-1_68.lib

libboost_graph_parallel-vc141-mt-gd-x64-1_68.lib

libboost_iostreams-vc141-mt-gd-x64-1_68.lib

libboost_locale-vc141-mt-gd-x64-1_68.lib

libboost_log-vc141-mt-gd-x64-1_68.lib

libboost_log_setup-vc141-mt-gd-x64-1_68.lib

libboost_math_c99-vc141-mt-gd-x64-1_68.lib

libboost_math_c99f-vc141-mt-gd-x64-1_68.lib

libboost_math_c99l-vc141-mt-gd-x64-1_68.lib

libboost_math_tr1-vc141-mt-gd-x64-1_68.lib

libboost_math_tr1f-vc141-mt-gd-x64-1_68.lib

libboost_math_tr1l-vc141-mt-gd-x64-1_68.lib

libboost_mpi-vc141-mt-gd-x64-1_68.lib

libboost_numpy27-vc141-mt-gd-x64-1_68.lib

libboost_numpy37-vc141-mt-gd-x64-1_68.lib

libboost_prg_exec_monitor-vc141-mt-gd-x64-1_68.lib

libboost_program_options-vc141-mt-gd-x64-1_68.lib

libboost_python27-vc141-mt-gd-x64-1_68.lib

libboost_python37-vc141-mt-gd-x64-1_68.lib

libboost_random-vc141-mt-gd-x64-1_68.lib

libboost_regex-vc141-mt-gd-x64-1_68.lib

libboost_serialization-vc141-mt-gd-x64-1_68.lib

libboost_signals-vc141-mt-gd-x64-1_68.lib

libboost_stacktrace_noop-vc141-mt-gd-x64-1_68.lib

libboost_stacktrace_windbg-vc141-mt-gd-x64-1_68.lib

libboost_stacktrace_windbg_cached-vc141-mt-gd-x64-1_68.lib

libboost_system-vc141-mt-gd-x64-1_68.lib

libboost_test_exec_monitor-vc141-mt-gd-x64-1_68.lib

libboost_thread-vc141-mt-gd-x64-1_68.lib

libboost_timer-vc141-mt-gd-x64-1_68.lib

libboost_type_erasure-vc141-mt-gd-x64-1_68.lib

libboost_unit_test_framework-vc141-mt-gd-x64-1_68.lib

libboost_wave-vc141-mt-gd-x64-1_68.lib

libboost_wserialization-vc141-mt-gd-x64-1_68.lib

libboost_zlib-vc141-mt-gd-x64-1_68.lib

flann-gd.lib;

flann_cpp-gd.lib;

flann_cpp_s-gd.lib;

flann_s-gd.lib;

qhull_d.lib;

qhullcpp_d.lib;

qhullstatic_d.lib;

qhullstatic_r_d.lib;

qhull_p_d.lib;

qhull_r_d.lib;

qhull.lib;

Release版本：（完整复制如下内容）

vtkalglib-8.1.lib

vtkChartsCore-8.1.lib

vtkCommonColor-8.1.lib

vtkCommonComputationalGeometry-8.1.lib

vtkCommonCore-8.1.lib

vtkCommonDataModel-8.1.lib

vtkCommonExecutionModel-8.1.lib

vtkCommonMath-8.1.lib

vtkCommonMisc-8.1.lib

vtkCommonSystem-8.1.lib

vtkCommonTransforms-8.1.lib

vtkDICOMParser-8.1.lib

vtkDomainsChemistry-8.1.lib

vtkexoIIc-8.1.lib

vtkexpat-8.1.lib

vtkFiltersAMR-8.1.lib

vtkFiltersCore-8.1.lib

vtkFiltersExtraction-8.1.lib

vtkFiltersFlowPaths-8.1.lib

vtkFiltersGeneral-8.1.lib

vtkFiltersGeneric-8.1.lib

vtkFiltersGeometry-8.1.lib

vtkFiltersHybrid-8.1.lib

vtkFiltersHyperTree-8.1.lib

vtkFiltersImaging-8.1.lib

vtkFiltersModeling-8.1.lib

vtkFiltersParallel-8.1.lib

vtkFiltersParallelImaging-8.1.lib

vtkFiltersPoints-8.1.lib

vtkFiltersProgrammable-8.1.lib

vtkFiltersSelection-8.1.lib

vtkFiltersSMP-8.1.lib

vtkFiltersSources-8.1.lib

vtkFiltersStatistics-8.1.lib

vtkFiltersTexture-8.1.lib

vtkFiltersTopology-8.1.lib

vtkFiltersVerdict-8.1.lib

vtkfreetype-8.1.lib

vtkGeovisCore-8.1.lib

vtkgl2ps-8.1.lib

vtkhdf5-8.1.lib

vtkhdf5_hl-8.1.lib

vtkImagingColor-8.1.lib

vtkImagingCore-8.1.lib

vtkImagingFourier-8.1.lib

vtkImagingGeneral-8.1.lib

vtkImagingHybrid-8.1.lib

vtkImagingMath-8.1.lib

vtkImagingMorphological-8.1.lib

vtkImagingSources-8.1.lib

vtkImagingStatistics-8.1.lib

vtkImagingStencil-8.1.lib

vtkInfovisCore-8.1.lib

vtkInfovisLayout-8.1.lib

vtkInteractionImage-8.1.lib

vtkInteractionStyle-8.1.lib

vtkInteractionWidgets-8.1.lib

vtkIOAMR-8.1.lib

vtkIOCore-8.1.lib

vtkIOEnSight-8.1.lib

vtkIOExodus-8.1.lib

vtkIOExport-8.1.lib

vtkIOExportOpenGL-8.1.lib

vtkIOGeometry-8.1.lib

vtkIOImage-8.1.lib

vtkIOImport-8.1.lib

vtkIOInfovis-8.1.lib

vtkIOLegacy-8.1.lib

vtkIOLSDyna-8.1.lib

vtkIOMINC-8.1.lib

vtkIOMovie-8.1.lib

vtkIONetCDF-8.1.lib

vtkIOParallel-8.1.lib

vtkIOParallelXML-8.1.lib

vtkIOPLY-8.1.lib

vtkIOSQL-8.1.lib

vtkIOTecplotTable-8.1.lib

vtkIOVideo-8.1.lib

vtkIOXML-8.1.lib

vtkIOXMLParser-8.1.lib

vtkjpeg-8.1.lib

vtkjsoncpp-8.1.lib

vtklibharu-8.1.lib

vtklibxml2-8.1.lib

vtklz4-8.1.lib

vtkmetaio-8.1.lib

vtkNetCDF-8.1.lib

vtknetcdfcpp-8.1.lib

vtkoggtheora-8.1.lib

vtkParallelCore-8.1.lib

vtkpng-8.1.lib

vtkproj4-8.1.lib

vtkRenderingAnnotation-8.1.lib

vtkRenderingContext2D-8.1.lib

vtkRenderingContextOpenGL-8.1.lib

vtkRenderingCore-8.1.lib

vtkRenderingFreeType-8.1.lib

vtkRenderingGL2PS-8.1.lib

vtkRenderingImage-8.1.lib

vtkRenderingLabel-8.1.lib

vtkRenderingLIC-8.1.lib

vtkRenderingLOD-8.1.lib

vtkRenderingOpenGL-8.1.lib

vtkRenderingVolume-8.1.lib

vtkRenderingVolumeOpenGL-8.1.lib

vtksqlite-8.1.lib

vtksys-8.1.lib

vtktiff-8.1.lib

vtkverdict-8.1.lib

vtkViewsContext2D-8.1.lib

vtkViewsCore-8.1.lib

vtkViewsInfovis-8.1.lib

vtkzlib-8.1.lib

pcl_common_release.lib

pcl_features_release.lib

pcl_filters_release.lib

pcl_io_ply_release.lib

pcl_io_release.lib

pcl_kdtree_release.lib

pcl_keypoints_release.lib

pcl_ml_release.lib

pcl_octree_release.lib

pcl_outofcore_release.lib

pcl_people_release.lib

pcl_recognition_release.lib

pcl_registration_release.lib

pcl_sample_consensus_release.lib

pcl_search_release.lib

pcl_segmentation_release.lib

pcl_stereo_release.lib

pcl_surface_release.lib

pcl_tracking_release.lib

pcl_visualization_release.lib

libboost_atomic-vc141-mt-x64-1_68.lib

libboost_bzip2-vc141-mt-x64-1_68.lib

libboost_chrono-vc141-mt-x64-1_68.lib

libboost_container-vc141-mt-x64-1_68.lib

libboost_context-vc141-mt-x64-1_68.lib

libboost_contract-vc141-mt-x64-1_68.lib

libboost_coroutine-vc141-mt-x64-1_68.lib

libboost_date_time-vc141-mt-x64-1_68.lib

libboost_exception-vc141-mt-x64-1_68.lib

libboost_fiber-vc141-mt-x64-1_68.lib

libboost_filesystem-vc141-mt-x64-1_68.lib

libboost_graph-vc141-mt-x64-1_68.lib

libboost_graph_parallel-vc141-mt-x64-1_68.lib

libboost_iostreams-vc141-mt-x64-1_68.lib

libboost_locale-vc141-mt-x64-1_68.lib

libboost_log-vc141-mt-x64-1_68.lib

libboost_log_setup-vc141-mt-x64-1_68.lib

libboost_math_c99-vc141-mt-x64-1_68.lib

libboost_math_c99f-vc141-mt-x64-1_68.lib

libboost_math_c99l-vc141-mt-x64-1_68.lib

libboost_math_tr1-vc141-mt-x64-1_68.lib

libboost_math_tr1f-vc141-mt-x64-1_68.lib

libboost_math_tr1l-vc141-mt-x64-1_68.lib

libboost_mpi-vc141-mt-x64-1_68.lib

libboost_numpy27-vc141-mt-x64-1_68.lib

libboost_numpy37-vc141-mt-x64-1_68.lib

libboost_prg_exec_monitor-vc141-mt-x64-1_68.lib

libboost_program_options-vc141-mt-x64-1_68.lib

libboost_python27-vc141-mt-x64-1_68.lib

libboost_python37-vc141-mt-x64-1_68.lib

libboost_random-vc141-mt-x64-1_68.lib

libboost_regex-vc141-mt-x64-1_68.lib

libboost_serialization-vc141-mt-x64-1_68.lib

libboost_signals-vc141-mt-x64-1_68.lib

libboost_stacktrace_noop-vc141-mt-x64-1_68.lib

libboost_stacktrace_windbg-vc141-mt-x64-1_68.lib

libboost_stacktrace_windbg_cached-vc141-mt-x64-1_68.lib

libboost_system-vc141-mt-x64-1_68.lib

libboost_test_exec_monitor-vc141-mt-x64-1_68.lib

libboost_thread-vc141-mt-x64-1_68.lib

libboost_timer-vc141-mt-x64-1_68.lib

libboost_type_erasure-vc141-mt-x64-1_68.lib

libboost_unit_test_framework-vc141-mt-x64-1_68.lib

libboost_wave-vc141-mt-x64-1_68.lib

libboost_wserialization-vc141-mt-x64-1_68.lib

libboost_zlib-vc141-mt-x64-1_68.lib

OpenNI2.lib;

qhull.lib;

qhull_p.lib;

qhull_r.lib;

qhull.lib;

qhullcpp.lib;

qhullstatic.lib;

qhullstatic_r.lib;

flann.lib;

flann_cpp.lib;

flann_cpp_s.lib;

flann_s.lib;

3.2.7 最后检查一下如图内容：SDL检查--选择‘否’

到此为止已配置完毕。

4.代码测试

找的一个.pcd格式的点云文件进行测试。

#include <iostream> //标准输入输出流
#include <pcl/io/pcd_io.h> //PCL的PCD格式文件的输入输出头文件
#include <pcl/point_types.h> //PCL对各种格式的点的支持头文件
#include <pcl/visualization/cloud_viewer.h>//点云查看窗口头文件
int main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); // 创建点云

	if (pcl::io::loadPCDFile<pcl::PointXYZ>("rabbit.pcd", *cloud) == -1) //* 读取PCD格式的文件
	{
		PCL_ERROR("Couldn't read file rabbit.pcd \n"); //文件不存在时，返回错误，终止程序
		return (-1);
	}
	pcl::visualization::CloudViewer viewer("Simple Cloud Viewer");//创建一个显示窗口
	viewer.showCloud(cloud);//在这个窗口显示点云
	while (!viewer.wasStopped())
	{
	}
	return (0);
}

点云PCD格式文件分享（仅供测试）链接: https://pan.baidu.com/s/1KcKiJXSJq16UUbVtb6YD3Q 提取码: qwku 复制这段内容后打开百度网盘手机App，操作更方便哦