VS2017配置PCL 1.8.1

已于 2023-06-28 10:28:44 修改
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分类专栏： PCL 文章标签： pcl
于 2021-09-03 09:48:06 首次发布
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本文链接：https://blog.csdn.net/Scarlett2025/article/details/120068774
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PCL Visual Studio 2017 安装配置 环境变量 库依赖
关键词由CSDN通过智能技术生成

需要在https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.8.1网站下载.exe可执行文件和pdb压缩包
下载适当的版本，这里有32位和64位的，是要看你的VS2017的编译器是几位的，并不是操作系统
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安装pcl

双击exe可执行文件，选择添加环境变量，下一步；
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勾选所有的组件，安装；
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中间会弹出提醒安装openNI2，
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注意我们上面还下载了pcl-1.8.1-pdb-msvc2017-win64.zip。解压后将文件夹里面的文件都复制到PCL1.8.1\bin文件夹中

配置环境变量

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VS2017开发环境变量

新建一个C++空项目，项目名自定义即可。
先配置Debug | x64 环境
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在Property Manager页面，选择Debug | x64文件夹右键，“Add New Project Sheet”。默认命名PropertySheet.props，这样可以每次在新工程中直接导入.props文件
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选中PropertySheet.props，打开属性页Alt+Enter
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点击左侧VC++目录，选择包含目录，将下面几个路径添加到包含目录中：

D:\PCL 1.8.1\include\pcl-1.8
D:\PCL 1.8.1\3rdParty\OpenNI2\Include
D:\PCL 1.8.1\3rdParty\VTK\include\vtk-8.0
D:\PCL 1.8.1\3rdParty\Qhull\include
D:\PCL 1.8.1\3rdParty\FLANN\include
D:\PCL 1.8.1\3rdParty\Eigen\eigen3
D:\PCL 1.8.1\3rdParty\Boost\include\boost-1_64

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同样的操作选择库目录点击右侧下拉按钮，进行编辑；
添加

D:\PCL 1.8.1\3rdParty\VTK\lib
D:\PCL 1.8.1\3rdParty\Qhull\lib
D:\PCL 1.8.1\3rdParty\OpenNI2\Lib
D:\PCL 1.8.1\3rdParty\FLANN\lib
D:\PCL 1.8.1\3rdParty\Boost\lib
D:\PCL 1.8.1\lib

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在预处理器定义中添加3行代码：（先创建源文件）
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_CRT_SECURE_NO_WARNINGS
_SCL_SECURE_NO_WARNINGS
_SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING

然后所有选项里面将SDL检查改为否
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添加附加依赖项
链接器–>输入–>附加依赖项

vtknetcdf_c++-gd.lib
pcl_common_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_io_ply_debug.lib
pcl_io_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-1_64.lib
libboost_bzip2-vc141-mt-gd-1_64.lib
libboost_chrono-vc141-mt-gd-1_64.lib
libboost_container-vc141-mt-gd-1_64.lib
libboost_context-vc141-mt-gd-1_64.lib
libboost_coroutine-vc141-mt-gd-1_64.lib
libboost_date_time-vc141-mt-gd-1_64.lib
libboost_exception-vc141-mt-gd-1_64.lib
libboost_fiber-vc141-mt-gd-1_64.lib
libboost_filesystem-vc141-mt-gd-1_64.lib
libboost_graph-vc141-mt-gd-1_64.lib
libboost_graph_parallel-vc141-mt-gd-1_64.lib
libboost_iostreams-vc141-mt-gd-1_64.lib
libboost_locale-vc141-mt-gd-1_64.lib
libboost_log-vc141-mt-gd-1_64.lib
libboost_log_setup-vc141-mt-gd-1_64.lib
libboost_math_c99-vc141-mt-gd-1_64.lib
libboost_math_c99f-vc141-mt-gd-1_64.lib
libboost_math_c99l-vc141-mt-gd-1_64.lib
libboost_math_tr1-vc141-mt-gd-1_64.lib
libboost_math_tr1f-vc141-mt-gd-1_64.lib
libboost_math_tr1l-vc141-mt-gd-1_64.lib
libboost_mpi-vc141-mt-gd-1_64.lib
libboost_numpy3-vc141-mt-gd-1_64.lib
libboost_numpy-vc141-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib
libboost_program_options-vc141-mt-gd-1_64.lib
libboost_python3-vc141-mt-gd-1_64.lib
libboost_python-vc141-mt-gd-1_64.lib
libboost_random-vc141-mt-gd-1_64.lib
libboost_regex-vc141-mt-gd-1_64.lib
libboost_serialization-vc141-mt-gd-1_64.lib
libboost_signals-vc141-mt-gd-1_64.lib
libboost_system-vc141-mt-gd-1_64.lib
libboost_test_exec_monitor-vc141-mt-gd-1_64.lib
libboost_thread-vc141-mt-gd-1_64.lib
libboost_timer-vc141-mt-gd-1_64.lib
libboost_type_erasure-vc141-mt-gd-1_64.lib
libboost_unit_test_framework-vc141-mt-gd-1_64.lib
libboost_wave-vc141-mt-gd-1_64.lib
libboost_wserialization-vc141-mt-gd-1_64.lib
libboost_zlib-vc141-mt-gd-1_64.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
vtkalglib-8.0-gd.lib
vtkChartsCore-8.0-gd.lib
vtkCommonColor-8.0-gd.lib
vtkCommonComputationalGeometry-8.0-gd.lib
vtkCommonCore-8.0-gd.lib
vtkCommonDataModel-8.0-gd.lib
vtkCommonExecutionModel-8.0-gd.lib
vtkCommonMath-8.0-gd.lib
vtkCommonMisc-8.0-gd.lib
vtkCommonSystem-8.0-gd.lib
vtkCommonTransforms-8.0-gd.lib
vtkDICOMParser-8.0-gd.lib
vtkDomainsChemistry-8.0-gd.lib
vtkexoIIc-8.0-gd.lib
vtkexpat-8.0-gd.lib
vtkFiltersAMR-8.0-gd.lib
vtkFiltersCore-8.0-gd.lib
vtkFiltersExtraction-8.0-gd.lib
vtkFiltersFlowPaths-8.0-gd.lib
vtkFiltersGeneral-8.0-gd.lib
vtkFiltersGeneric-8.0-gd.lib
vtkFiltersGeometry-8.0-gd.lib
vtkFiltersHybrid-8.0-gd.lib
vtkFiltersHyperTree-8.0-gd.lib
vtkFiltersImaging-8.0-gd.lib
vtkFiltersModeling-8.0-gd.lib
vtkFiltersParallel-8.0-gd.lib
vtkFiltersParallelImaging-8.0-gd.lib
vtkFiltersPoints-8.0-gd.lib
vtkFiltersProgrammable-8.0-gd.lib
vtkFiltersSelection-8.0-gd.lib
vtkFiltersSMP-8.0-gd.lib
vtkFiltersSources-8.0-gd.lib
vtkFiltersStatistics-8.0-gd.lib
vtkFiltersTexture-8.0-gd.lib
vtkFiltersTopology-8.0-gd.lib
vtkFiltersVerdict-8.0-gd.lib
vtkfreetype-8.0-gd.lib
vtkGeovisCore-8.0-gd.lib
vtkgl2ps-8.0-gd.lib
vtkhdf5-8.0-gd.lib
vtkhdf5_hl-8.0-gd.lib
vtkImagingColor-8.0-gd.lib
vtkImagingCore-8.0-gd.lib
vtkImagingFourier-8.0-gd.lib
vtkImagingGeneral-8.0-gd.lib
vtkImagingHybrid-8.0-gd.lib
vtkImagingMath-8.0-gd.lib
vtkImagingMorphological-8.0-gd.lib
vtkImagingSources-8.0-gd.lib
vtkImagingStatistics-8.0-gd.lib
vtkImagingStencil-8.0-gd.lib
vtkInfovisCore-8.0-gd.lib
vtkInfovisLayout-8.0-gd.lib
vtkInteractionImage-8.0-gd.lib
vtkInteractionStyle-8.0-gd.lib
vtkInteractionWidgets-8.0-gd.lib
vtkIOAMR-8.0-gd.lib
vtkIOCore-8.0-gd.lib
vtkIOEnSight-8.0-gd.lib
vtkIOExodus-8.0-gd.lib
vtkIOExport-8.0-gd.lib
vtkIOExportOpenGL-8.0-gd.lib
vtkIOGeometry-8.0-gd.lib
vtkIOImage-8.0-gd.lib
vtkIOImport-8.0-gd.lib
vtkIOInfovis-8.0-gd.lib
vtkIOLegacy-8.0-gd.lib
vtkIOLSDyna-8.0-gd.lib
vtkIOMINC-8.0-gd.lib
vtkIOMovie-8.0-gd.lib
vtkIONetCDF-8.0-gd.lib
vtkIOParallel-8.0-gd.lib
vtkIOParallelXML-8.0-gd.lib
vtkIOPLY-8.0-gd.lib
vtkIOSQL-8.0-gd.lib
vtkIOTecplotTable-8.0-gd.lib
vtkIOVideo-8.0-gd.lib
vtkIOXML-8.0-gd.lib
vtkIOXMLParser-8.0-gd.lib
vtkjpeg-8.0-gd.lib
vtkjsoncpp-8.0-gd.lib
vtklibharu-8.0-gd.lib
vtklibxml2-8.0-gd.lib
vtklz4-8.0-gd.lib
vtkmetaio-8.0-gd.lib
vtkNetCDF-8.0-gd.lib
vtkoggtheora-8.0-gd.lib
vtkParallelCore-8.0-gd.lib
vtkpng-8.0-gd.lib
vtkproj4-8.0-gd.lib
vtkRenderingAnnotation-8.0-gd.lib
vtkRenderingContext2D-8.0-gd.lib
vtkRenderingContextOpenGL-8.0-gd.lib
vtkRenderingCore-8.0-gd.lib
vtkRenderingFreeType-8.0-gd.lib
vtkRenderingGL2PS-8.0-gd.lib
vtkRenderingImage-8.0-gd.lib
vtkRenderingLabel-8.0-gd.lib
vtkRenderingLIC-8.0-gd.lib
vtkRenderingLOD-8.0-gd.lib
vtkRenderingOpenGL-8.0-gd.lib
vtkRenderingVolume-8.0-gd.lib
vtkRenderingVolumeOpenGL-8.0-gd.lib
vtksqlite-8.0-gd.lib
vtksys-8.0-gd.lib
vtktiff-8.0-gd.lib
vtkverdict-8.0-gd.lib
vtkViewsContext2D-8.0-gd.lib
vtkViewsCore-8.0-gd.lib
vtkViewsInfovis-8.0-gd.lib
vtkzlib-8.0-gd.lib
opengl32.lib

配置完成后要保存PropertySheet.props
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链接器的输入里面需要填的内容很多，基本涵盖了第三方库的各个文件夹：

cd /d D:\PCL 1.8.1\3rdParty\Boost\lib
dir /b *.lib > boost.txt
cd /d D:\PCL 1.8.1\3rdParty\FLANN\lib
dir /b *.lib > flann.txt
cd /d D:\PCL 1.8.1\3rdParty\Qhull\lib
dir /b *.lib > Qhull.txt
cd /d D:\PCL 1.8.1\3rdParty\VTK\lib
dir /b *.lib > VTK.txt
cd /d D:\PCL 1.8.1\lib
dir /b *.lib > pcl.txt

有俩个容易漏的：

OpenNI2.lib
OpenGL32.Lib

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libboost_atomic-vc141-mt-1_64.lib
libboost_atomic-vc141-mt-gd-1_64.lib
libboost_bzip2-vc141-mt-1_64.lib
libboost_bzip2-vc141-mt-gd-1_64.lib
libboost_chrono-vc141-mt-1_64.lib
libboost_chrono-vc141-mt-gd-1_64.lib
libboost_container-vc141-mt-1_64.lib
libboost_container-vc141-mt-gd-1_64.lib
libboost_context-vc141-mt-1_64.lib
libboost_context-vc141-mt-gd-1_64.lib
libboost_coroutine-vc141-mt-1_64.lib
libboost_coroutine-vc141-mt-gd-1_64.lib
libboost_date_time-vc141-mt-1_64.lib
libboost_date_time-vc141-mt-gd-1_64.lib
libboost_exception-vc141-mt-1_64.lib
libboost_exception-vc141-mt-gd-1_64.lib
libboost_fiber-vc141-mt-1_64.lib
libboost_fiber-vc141-mt-gd-1_64.lib
libboost_filesystem-vc141-mt-1_64.lib
libboost_filesystem-vc141-mt-gd-1_64.lib
libboost_graph-vc141-mt-1_64.lib
libboost_graph-vc141-mt-gd-1_64.lib
libboost_graph_parallel-vc141-mt-1_64.lib
libboost_graph_parallel-vc141-mt-gd-1_64.lib
libboost_iostreams-vc141-mt-1_64.lib
libboost_iostreams-vc141-mt-gd-1_64.lib
libboost_locale-vc141-mt-1_64.lib
libboost_locale-vc141-mt-gd-1_64.lib
libboost_log-vc141-mt-1_64.lib
libboost_log-vc141-mt-gd-1_64.lib
libboost_log_setup-vc141-mt-1_64.lib
libboost_log_setup-vc141-mt-gd-1_64.lib
libboost_math_c99-vc141-mt-1_64.lib
libboost_math_c99-vc141-mt-gd-1_64.lib
libboost_math_c99f-vc141-mt-1_64.lib
libboost_math_c99f-vc141-mt-gd-1_64.lib
libboost_math_c99l-vc141-mt-1_64.lib
libboost_math_c99l-vc141-mt-gd-1_64.lib
libboost_math_tr1-vc141-mt-1_64.lib
libboost_math_tr1-vc141-mt-gd-1_64.lib
libboost_math_tr1f-vc141-mt-1_64.lib
libboost_math_tr1f-vc141-mt-gd-1_64.lib
libboost_math_tr1l-vc141-mt-1_64.lib
libboost_math_tr1l-vc141-mt-gd-1_64.lib
libboost_mpi-vc141-mt-1_64.lib
libboost_mpi-vc141-mt-gd-1_64.lib
libboost_numpy-vc141-mt-1_64.lib
libboost_numpy-vc141-mt-gd-1_64.lib
libboost_numpy3-vc141-mt-1_64.lib
libboost_numpy3-vc141-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc141-mt-1_64.lib
libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib
libboost_program_options-vc141-mt-1_64.lib
libboost_program_options-vc141-mt-gd-1_64.lib
libboost_python-vc141-mt-1_64.lib
libboost_python-vc141-mt-gd-1_64.lib
libboost_python3-vc141-mt-1_64.lib
libboost_python3-vc141-mt-gd-1_64.lib
libboost_random-vc141-mt-1_64.lib
libboost_random-vc141-mt-gd-1_64.lib
libboost_regex-vc141-mt-1_64.lib
libboost_regex-vc141-mt-gd-1_64.lib
libboost_serialization-vc141-mt-1_64.lib
libboost_serialization-vc141-mt-gd-1_64.lib
libboost_signals-vc141-mt-1_64.lib
libboost_signals-vc141-mt-gd-1_64.lib
libboost_system-vc141-mt-1_64.lib
libboost_system-vc141-mt-gd-1_64.lib
libboost_test_exec_monitor-vc141-mt-1_64.lib
libboost_test_exec_monitor-vc141-mt-gd-1_64.lib
libboost_thread-vc141-mt-1_64.lib
libboost_thread-vc141-mt-gd-1_64.lib
libboost_timer-vc141-mt-1_64.lib
libboost_timer-vc141-mt-gd-1_64.lib
libboost_type_erasure-vc141-mt-1_64.lib
libboost_type_erasure-vc141-mt-gd-1_64.lib
libboost_unit_test_framework-vc141-mt-1_64.lib
libboost_unit_test_framework-vc141-mt-gd-1_64.lib
libboost_wave-vc141-mt-1_64.lib
libboost_wave-vc141-mt-gd-1_64.lib
libboost_wserialization-vc141-mt-1_64.lib
libboost_wserialization-vc141-mt-gd-1_64.lib
libboost_zlib-vc141-mt-1_64.lib
libboost_zlib-vc141-mt-gd-1_64.lib
flann-gd.lib
flann.lib
flann_cpp-gd.lib
flann_cpp.lib
flann_cpp_s-gd.lib
flann_cpp_s.lib
flann_s-gd.lib
flann_s.lib
qhull.lib
qhullcpp.lib
qhullcpp_d.lib
qhullstatic.lib
qhullstatic_d.lib
qhullstatic_r.lib
qhullstatic_r_d.lib
qhull_d.lib
qhull_p.lib
qhull_p_d.lib
qhull_r.lib
qhull_r_d.lib
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
OpenNI2.lib
OpenGL32.Lib

libboost_atomic-vc141-mt-1_64.lib
libboost_bzip2-vc141-mt-1_64.lib
libboost_chrono-vc141-mt-1_64.lib
libboost_container-vc141-mt-1_64.lib
libboost_context-vc141-mt-1_64.lib
libboost_coroutine-vc141-mt-1_64.lib
libboost_date_time-vc141-mt-1_64.lib
libboost_exception-vc141-mt-1_64.lib
libboost_fiber-vc141-mt-1_64.lib
libboost_filesystem-vc141-mt-1_64.lib
libboost_graph-vc141-mt-1_64.lib
libboost_graph_parallel-vc141-mt-1_64.lib
libboost_iostreams-vc141-mt-1_64.lib
libboost_locale-vc141-mt-1_64.lib
libboost_log-vc141-mt-1_64.lib
libboost_log_setup-vc141-mt-1_64.lib
libboost_math_c99-vc141-mt-1_64.lib
libboost_math_c99f-vc141-mt-1_64.lib
libboost_math_c99l-vc141-mt-1_64.lib
libboost_math_tr1-vc141-mt-1_64.lib
libboost_math_tr1f-vc141-mt-1_64.lib
libboost_math_tr1l-vc141-mt-1_64.lib
libboost_mpi-vc141-mt-1_64.lib
libboost_numpy-vc141-mt-1_64.lib
libboost_numpy3-vc141-mt-1_64.lib
libboost_prg_exec_monitor-vc141-mt-1_64.lib
libboost_program_options-vc141-mt-1_64.lib
libboost_python-vc141-mt-1_64.lib
libboost_python3-vc141-mt-1_64.lib
libboost_random-vc141-mt-1_64.lib
libboost_regex-vc141-mt-1_64.lib
libboost_serialization-vc141-mt-1_64.lib
libboost_signals-vc141-mt-1_64.lib
libboost_system-vc141-mt-1_64.lib
libboost_test_exec_monitor-vc141-mt-1_64.lib
libboost_thread-vc141-mt-1_64.lib
libboost_timer-vc141-mt-1_64.lib
libboost_type_erasure-vc141-mt-1_64.lib
libboost_unit_test_framework-vc141-mt-1_64.lib
libboost_wave-vc141-mt-1_64.lib
libboost_wserialization-vc141-mt-1_64.lib
libboost_zlib-vc141-mt-1_64.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_s.lib
OpenNI2.lib
qhull.lib
qhullcpp.lib
qhullstatic.lib
qhullstatic_r.lib
qhull_p.lib
qhull_r.lib
vtkalglib-8.0.lib
vtkChartsCore-8.0.lib
vtkCommonColor-8.0.lib
vtkCommonComputationalGeometry-8.0.lib
vtkCommonCore-8.0.lib
vtkCommonDataModel-8.0.lib
vtkCommonExecutionModel-8.0.lib
vtkCommonMath-8.0.lib
vtkCommonMisc-8.0.lib
vtkCommonSystem-8.0.lib
vtkCommonTransforms-8.0.lib
vtkDICOMParser-8.0.lib
vtkDomainsChemistry-8.0.lib
vtkexoIIc-8.0.lib
vtkexpat-8.0.lib
vtkFiltersAMR-8.0.lib
vtkFiltersCore-8.0.lib
vtkFiltersExtraction-8.0.lib
vtkFiltersFlowPaths-8.0.lib
vtkFiltersGeneral-8.0.lib
vtkFiltersGeneric-8.0.lib
vtkFiltersGeometry-8.0.lib
vtkFiltersHybrid-8.0.lib
vtkFiltersHyperTree-8.0.lib
vtkFiltersImaging-8.0.lib
vtkFiltersModeling-8.0.lib
vtkFiltersParallel-8.0.lib
vtkFiltersParallelImaging-8.0.lib
vtkFiltersPoints-8.0.lib
vtkFiltersProgrammable-8.0.lib
vtkFiltersSelection-8.0.lib
vtkFiltersSMP-8.0.lib
vtkFiltersSources-8.0.lib
vtkFiltersStatistics-8.0.lib
vtkFiltersTexture-8.0.lib
vtkFiltersTopology-8.0.lib
vtkFiltersVerdict-8.0.lib
vtkfreetype-8.0.lib
vtkGeovisCore-8.0.lib
vtkgl2ps-8.0.lib
vtkhdf5-8.0.lib
vtkhdf5_hl-8.0.lib
vtkImagingColor-8.0.lib
vtkImagingCore-8.0.lib
vtkImagingFourier-8.0.lib
vtkImagingGeneral-8.0.lib
vtkImagingHybrid-8.0.lib
vtkImagingMath-8.0.lib
vtkImagingMorphological-8.0.lib
vtkImagingSources-8.0.lib
vtkImagingStatistics-8.0.lib
vtkImagingStencil-8.0.lib
vtkInfovisCore-8.0.lib
vtkInfovisLayout-8.0.lib
vtkInteractionImage-8.0.lib
vtkInteractionStyle-8.0.lib
vtkInteractionWidgets-8.0.lib
vtkIOAMR-8.0.lib
vtkIOCore-8.0.lib
vtkIOEnSight-8.0.lib
vtkIOExodus-8.0.lib
vtkIOExport-8.0.lib
vtkIOExportOpenGL-8.0.lib
vtkIOGeometry-8.0.lib
vtkIOImage-8.0.lib
vtkIOImport-8.0.lib
vtkIOInfovis-8.0.lib
vtkIOLegacy-8.0.lib
vtkIOLSDyna-8.0.lib
vtkIOMINC-8.0.lib
vtkIOMovie-8.0.lib
vtkIONetCDF-8.0.lib
vtkIOParallel-8.0.lib
vtkIOParallelXML-8.0.lib
vtkIOPLY-8.0.lib
vtkIOSQL-8.0.lib
vtkIOTecplotTable-8.0.lib
vtkIOVideo-8.0.lib
vtkIOXML-8.0.lib
vtkIOXMLParser-8.0.lib
vtkjpeg-8.0.lib
vtkjsoncpp-8.0.lib
vtklibharu-8.0.lib
vtklibxml2-8.0.lib
vtklz4-8.0.lib
vtkmetaio-8.0.lib
vtkNetCDF-8.0.lib
vtknetcdf_c++.lib
vtkoggtheora-8.0.lib
vtkParallelCore-8.0.lib
vtkpng-8.0.lib
vtkproj4-8.0.lib
vtkRenderingAnnotation-8.0.lib
vtkRenderingContext2D-8.0.lib
vtkRenderingContextOpenGL-8.0.lib
vtkRenderingCore-8.0.lib
vtkRenderingFreeType-8.0.lib
vtkRenderingGL2PS-8.0.lib
vtkRenderingImage-8.0.lib
vtkRenderingLabel-8.0.lib
vtkRenderingLIC-8.0.lib
vtkRenderingLOD-8.0.lib
vtkRenderingOpenGL-8.0.lib
vtkRenderingVolume-8.0.lib
vtkRenderingVolumeOpenGL-8.0.lib
vtksqlite-8.0.lib
vtksys-8.0.lib
vtktiff-8.0.lib
vtkverdict-8.0.lib
vtkViewsContext2D-8.0.lib
vtkViewsCore-8.0.lib
vtkViewsInfovis-8.0.lib
vtkzlib-8.0.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

测试代码

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);
VTK_MODULE_INIT(vtkRenderingOpenGL);

int user_data;

void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
	viewer.setBackgroundColor(1.0, 0.5, 1.0);
	pcl::PointXYZ o;
	o.x = 1.0;
	o.y = 0;
	o.z = 0;
	viewer.addSphere(o, 0.25, "sphere", 0);
	std::cout << "i only run once" << std::endl;

}

void viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
{
	static unsigned count = 0;
	std::stringstream ss;
	ss << "Once per viewer loop: " << count++;
	viewer.removeShape("text", 0);
	viewer.addText(ss.str(), 200, 300, "text", 0);

	//FIXME: possible race condition here:
	user_data++;
}

int main()
{
	pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
	pcl::io::loadPCDFile("rabbit.pcd", *cloud);

	pcl::visualization::CloudViewer viewer("Cloud Viewer");



	//blocks until the cloud is actually rendered
	viewer.showCloud(cloud);

	//use the following functions to get access to the underlying more advanced/powerful
	//PCLVisualizer

	//This will only get called once
	viewer.runOnVisualizationThreadOnce(viewerOneOff);

	//This will get called once per visualization iteration
	viewer.runOnVisualizationThread(viewerPsycho);
	while (!viewer.wasStopped())
	{
		//you can also do cool processing here
		//FIXME: Note that this is running in a separate thread from viewerPsycho
		//and you should guard against race conditions yourself...
		user_data++;
	}
	return 0;
}

在这里插入图片描述
配置debug|x64版本时，遇到了“无法正常启动0xc000007b”的问题，后来发现是环境变量配置的不对

Scarlett2025
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