win10+VS2017搭建pcl1.8.1开发环境以及可能出现的问题

记录下自己搭建环境的过程

1.下载pcl

首先先下载pcl1.8.1，下载地址，下载

• PCL 1.8.1 All-in-one Installer MSVC2017 x64
• PCL 1.8.1 PDB MSVC2017 x64 (symbol files)

2.安装pcl

安装双击exe文件开始安装pcl库，第一个选择框要选择Add PCL to the system PATH for all user 

中间会弹出安装OpenNI2的会话框，建议直接装在pcl安装文件夹下的OpenNI2文件夹中（图中OpenNI2文件夹）

安装完pcl库的时候，将刚刚下载的pdb压缩包解压，将文件复制到你安装pcl库的bin目录下 D:\PCL 1.8.1\bin

3.配置环境变量

右键我的电脑->属性->高级系统设置->环境变量，在系统变量的Path变量中添加如下几个路径

配置完后重启电脑。

4.配置开发环境

打开vs2017新建一个空项目，在属性管理器中对项目右键选择最下面的属性，注意配置和平台分别选择Debug和x64，

在常规->VC++目录->包含目录中添加如下路径

在常规->VC++目录->库目录中添加如下路径

在链接器->输入->附加依赖项中添加 D:\PCL 1.8.1\lib和 D:\PCL 1.8.1\3rdParty\VTK\lib中的所有.lib文件（见文末）。

5.测试

新建一个cpp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（指针）

	if (pcl::io::loadPCDFile<pcl::PointXYZ>("C:\\Users\\Wzf\\Desktop\\rabbit\\rabbit_t.pcd", *cloud) == -1) //* 读入PCD格式的文件，如果文件不存在，返回-1
	{
		PCL_ERROR("Couldn't read file test_pcd.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");//直接创造一个显示窗口
	viewer.showCloud(cloud);//再这个窗口显示点云
	while (!viewer.wasStopped())
	{
	}
	return (0);
}

结果如图所示

 

6.可能出现的问题

在运行时，boost库可能会出现问题，如下：

pcl1.8.1\3rdparty\boost\include\boost-1_64\boost\iostreams\positioning.hpp(96): error C2039: “seekpos”: 不是“std::fpos<_Mbstatet>”的成员这样的错误；

只要将在positioning.hpp 中报错的这句return pos.seekpos();注释掉即可。

7.依赖包（仅针对pcl1.8.1版本）

vtkalglib-8.0-gd.lib
vtkalglib-8.0.lib
vtkChartsCore-8.0-gd.lib
vtkChartsCore-8.0.lib
vtkCommonColor-8.0-gd.lib
vtkCommonColor-8.0.lib
vtkCommonComputationalGeometry-8.0-gd.lib
vtkCommonComputationalGeometry-8.0.lib
vtkCommonCore-8.0-gd.lib
vtkCommonCore-8.0.lib
vtkCommonDataModel-8.0-gd.lib
vtkCommonDataModel-8.0.lib
vtkCommonExecutionModel-8.0-gd.lib
vtkCommonExecutionModel-8.0.lib
vtkCommonMath-8.0-gd.lib
vtkCommonMath-8.0.lib
vtkCommonMisc-8.0-gd.lib
vtkCommonMisc-8.0.lib
vtkCommonSystem-8.0-gd.lib
vtkCommonSystem-8.0.lib
vtkCommonTransforms-8.0-gd.lib
vtkCommonTransforms-8.0.lib
vtkDICOMParser-8.0-gd.lib
vtkDICOMParser-8.0.lib
vtkDomainsChemistry-8.0-gd.lib
vtkDomainsChemistry-8.0.lib
vtkexoIIc-8.0-gd.lib
vtkexoIIc-8.0.lib
vtkexpat-8.0-gd.lib
vtkexpat-8.0.lib
vtkFiltersAMR-8.0-gd.lib
vtkFiltersAMR-8.0.lib
vtkFiltersCore-8.0-gd.lib
vtkFiltersCore-8.0.lib
vtkFiltersExtraction-8.0-gd.lib
vtkFiltersExtraction-8.0.lib
vtkFiltersFlowPaths-8.0-gd.lib
vtkFiltersFlowPaths-8.0.lib
vtkFiltersGeneral-8.0-gd.lib
vtkFiltersGeneral-8.0.lib
vtkFiltersGeneric-8.0-gd.lib
vtkFiltersGeneric-8.0.lib
vtkFiltersGeometry-8.0-gd.lib
vtkFiltersGeometry-8.0.lib
vtkFiltersHybrid-8.0-gd.lib
vtkFiltersHybrid-8.0.lib
vtkFiltersHyperTree-8.0-gd.lib
vtkFiltersHyperTree-8.0.lib
vtkFiltersImaging-8.0-gd.lib
vtkFiltersImaging-8.0.lib
vtkFiltersModeling-8.0-gd.lib
vtkFiltersModeling-8.0.lib
vtkFiltersParallel-8.0-gd.lib
vtkFiltersParallel-8.0.lib
vtkFiltersParallelImaging-8.0-gd.lib
vtkFiltersParallelImaging-8.0.lib
vtkFiltersPoints-8.0-gd.lib
vtkFiltersPoints-8.0.lib
vtkFiltersProgrammable-8.0-gd.lib
vtkFiltersProgrammable-8.0.lib
vtkFiltersSelection-8.0-gd.lib
vtkFiltersSelection-8.0.lib
vtkFiltersSMP-8.0-gd.lib
vtkFiltersSMP-8.0.lib
vtkFiltersSources-8.0-gd.lib
vtkFiltersSources-8.0.lib
vtkFiltersStatistics-8.0-gd.lib
vtkFiltersStatistics-8.0.lib
vtkFiltersTexture-8.0-gd.lib
vtkFiltersTexture-8.0.lib
vtkFiltersTopology-8.0-gd.lib
vtkFiltersTopology-8.0.lib
vtkFiltersVerdict-8.0-gd.lib
vtkFiltersVerdict-8.0.lib
vtkfreetype-8.0-gd.lib
vtkfreetype-8.0.lib
vtkGeovisCore-8.0-gd.lib
vtkGeovisCore-8.0.lib
vtkgl2ps-8.0-gd.lib
vtkgl2ps-8.0.lib
vtkhdf5-8.0-gd.lib
vtkhdf5-8.0.lib
vtkhdf5_hl-8.0-gd.lib
vtkhdf5_hl-8.0.lib
vtkImagingColor-8.0-gd.lib
vtkImagingColor-8.0.lib
vtkImagingCore-8.0-gd.lib
vtkImagingCore-8.0.lib
vtkImagingFourier-8.0-gd.lib
vtkImagingFourier-8.0.lib
vtkImagingGeneral-8.0-gd.lib
vtkImagingGeneral-8.0.lib
vtkImagingHybrid-8.0-gd.lib
vtkImagingHybrid-8.0.lib
vtkImagingMath-8.0-gd.lib
vtkImagingMath-8.0.lib
vtkImagingMorphological-8.0-gd.lib
vtkImagingMorphological-8.0.lib
vtkImagingSources-8.0-gd.lib
vtkImagingSources-8.0.lib
vtkImagingStatistics-8.0-gd.lib
vtkImagingStatistics-8.0.lib
vtkImagingStencil-8.0-gd.lib
vtkImagingStencil-8.0.lib
vtkInfovisCore-8.0-gd.lib
vtkInfovisCore-8.0.lib
vtkInfovisLayout-8.0-gd.lib
vtkInfovisLayout-8.0.lib
vtkInteractionImage-8.0-gd.lib
vtkInteractionImage-8.0.lib
vtkInteractionStyle-8.0-gd.lib
vtkInteractionStyle-8.0.lib
vtkInteractionWidgets-8.0-gd.lib
vtkInteractionWidgets-8.0.lib
vtkIOAMR-8.0-gd.lib
vtkIOAMR-8.0.lib
vtkIOCore-8.0-gd.lib
vtkIOCore-8.0.lib
vtkIOEnSight-8.0-gd.lib
vtkIOEnSight-8.0.lib
vtkIOExodus-8.0-gd.lib
vtkIOExodus-8.0.lib
vtkIOExport-8.0-gd.lib
vtkIOExport-8.0.lib
vtkIOExportOpenGL-8.0-gd.lib
vtkIOExportOpenGL-8.0.lib
vtkIOGeometry-8.0-gd.lib
vtkIOGeometry-8.0.lib
vtkIOImage-8.0-gd.lib
vtkIOImage-8.0.lib
vtkIOImport-8.0-gd.lib
vtkIOImport-8.0.lib
vtkIOInfovis-8.0-gd.lib
vtkIOInfovis-8.0.lib
vtkIOLegacy-8.0-gd.lib
vtkIOLegacy-8.0.lib
vtkIOLSDyna-8.0-gd.lib
vtkIOLSDyna-8.0.lib
vtkIOMINC-8.0-gd.lib
vtkIOMINC-8.0.lib
vtkIOMovie-8.0-gd.lib
vtkIOMovie-8.0.lib
vtkIONetCDF-8.0-gd.lib
vtkIONetCDF-8.0.lib
vtkIOParallel-8.0-gd.lib
vtkIOParallel-8.0.lib
vtkIOParallelXML-8.0-gd.lib
vtkIOParallelXML-8.0.lib
vtkIOPLY-8.0-gd.lib
vtkIOPLY-8.0.lib
vtkIOSQL-8.0-gd.lib
vtkIOSQL-8.0.lib
vtkIOTecplotTable-8.0-gd.lib
vtkIOTecplotTable-8.0.lib
vtkIOVideo-8.0-gd.lib
vtkIOVideo-8.0.lib
vtkIOXML-8.0-gd.lib
vtkIOXML-8.0.lib
vtkIOXMLParser-8.0-gd.lib
vtkIOXMLParser-8.0.lib
vtkjpeg-8.0-gd.lib
vtkjpeg-8.0.lib
vtkjsoncpp-8.0-gd.lib
vtkjsoncpp-8.0.lib
vtklibharu-8.0-gd.lib
vtklibharu-8.0.lib
vtklibxml2-8.0-gd.lib
vtklibxml2-8.0.lib
vtklz4-8.0-gd.lib
vtklz4-8.0.lib
vtkmetaio-8.0-gd.lib
vtkmetaio-8.0.lib
vtkNetCDF-8.0-gd.lib
vtkNetCDF-8.0.lib
vtknetcdf_c++-gd.lib
vtknetcdf_c++.lib
vtkoggtheora-8.0-gd.lib
vtkoggtheora-8.0.lib
vtkParallelCore-8.0-gd.lib
vtkParallelCore-8.0.lib
vtkpng-8.0-gd.lib
vtkpng-8.0.lib
vtkproj4-8.0-gd.lib
vtkproj4-8.0.lib
vtkRenderingAnnotation-8.0-gd.lib
vtkRenderingAnnotation-8.0.lib
vtkRenderingContext2D-8.0-gd.lib
vtkRenderingContext2D-8.0.lib
vtkRenderingContextOpenGL-8.0-gd.lib
vtkRenderingContextOpenGL-8.0.lib
vtkRenderingCore-8.0-gd.lib
vtkRenderingCore-8.0.lib
vtkRenderingFreeType-8.0-gd.lib
vtkRenderingFreeType-8.0.lib
vtkRenderingGL2PS-8.0-gd.lib
vtkRenderingGL2PS-8.0.lib
vtkRenderingImage-8.0-gd.lib
vtkRenderingImage-8.0.lib
vtkRenderingLabel-8.0-gd.lib
vtkRenderingLabel-8.0.lib
vtkRenderingLIC-8.0-gd.lib
vtkRenderingLIC-8.0.lib
vtkRenderingLOD-8.0-gd.lib
vtkRenderingLOD-8.0.lib
vtkRenderingOpenGL-8.0-gd.lib
vtkRenderingOpenGL-8.0.lib
vtkRenderingVolume-8.0-gd.lib
vtkRenderingVolume-8.0.lib
vtkRenderingVolumeOpenGL-8.0-gd.lib
vtkRenderingVolumeOpenGL-8.0.lib
vtksqlite-8.0-gd.lib
vtksqlite-8.0.lib
vtksys-8.0-gd.lib
vtksys-8.0.lib
vtktiff-8.0-gd.lib
vtktiff-8.0.lib
vtkverdict-8.0-gd.lib
vtkverdict-8.0.lib
vtkViewsContext2D-8.0-gd.lib
vtkViewsContext2D-8.0.lib
vtkViewsCore-8.0-gd.lib
vtkViewsCore-8.0.lib
vtkViewsInfovis-8.0-gd.lib
vtkViewsInfovis-8.0.lib
vtkzlib-8.0-gd.lib
vtkzlib-8.0.lib
pcl_common_debug.lib
pcl_common_release.lib
pcl_features_debug.lib
pcl_features_release.lib
pcl_filters_debug.lib
pcl_filters_release.lib
pcl_io_debug.lib
pcl_io_ply_debug.lib
pcl_io_ply_release.lib
pcl_io_release.lib
pcl_kdtree_debug.lib
pcl_kdtree_release.lib
pcl_keypoints_debug.lib
pcl_keypoints_release.lib
pcl_ml_debug.lib
pcl_ml_release.lib
pcl_octree_debug.lib
pcl_octree_release.lib
pcl_outofcore_debug.lib
pcl_outofcore_release.lib
pcl_people_debug.lib
pcl_people_release.lib
pcl_recognition_debug.lib
pcl_recognition_release.lib
pcl_registration_debug.lib
pcl_registration_release.lib
pcl_sample_consensus_debug.lib
pcl_sample_consensus_release.lib
pcl_search_debug.lib
pcl_search_release.lib
pcl_segmentation_debug.lib
pcl_segmentation_release.lib
pcl_stereo_debug.lib
pcl_stereo_release.lib
pcl_surface_debug.lib
pcl_surface_release.lib
pcl_tracking_debug.lib
pcl_tracking_release.lib
pcl_visualization_debug.lib
pcl_visualization_release.lib