Windows10下VS2013+PCL1.8环境配置

pcl1.8.1下载：http://pointclouds.org/downloads/，https://github.com/PointCloudLibrary/pcl/releases

转自：https://blog.csdn.net/shengxiamei/article/details/47023793

 

配置过程

1.下载安装PCL

下载PCL-1.8.0-AllInOne-msvc2013-win64并安装，一直下一步就好。注意：中途会弹出安装OpenNI的框，我们将OpenNI安装在PCL安装目录下3rdParty\OpenNI2里。 
下载链接：http://pan.baidu.com/s/1hrAhLK4 密码：1evw

2.配置系统变量：

安装好后，会自动出现如下几个变量： 

 

接着，我们需要自己添加如下几个变量： 
首先是path，第一个是安装完自己加的，我们需要手动添加其他三个： 

3.配置项目工程属性文件

（1）新建一个空项目，将项目设置成64位，这个没什么好说的。 
（2）切换属性管理器，在Debug|64下添加新项目属性表，取名PCL。 
左侧VC++目录，包含目录设置如图：

左侧VC++目录，库目录设置如图：

左侧链接器-输入，附加依赖项： 

配置如下： 
pcl_apps_debug.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_simulation_debug.lib 
pcl_stereo_debug.lib 
pcl_surface_debug.lib 
pcl_tracking_debug.lib 
pcl_visualization_debug.lib 
libboost_atomic-vc120-mt-gd-1_59.lib 
libboost_chrono-vc120-mt-gd-1_59.lib 
libboost_container-vc120-mt-gd-1_59.lib 
libboost_context-vc120-mt-gd-1_59.lib 
libboost_coroutine-vc120-mt-gd-1_59.lib 
libboost_date_time-vc120-mt-gd-1_59.lib 
libboost_exception-vc120-mt-gd-1_59.lib 
libboost_filesystem-vc120-mt-gd-1_59.lib 
libboost_graph-vc120-mt-gd-1_59.lib 
libboost_iostreams-vc120-mt-gd-1_59.lib 
libboost_locale-vc120-mt-gd-1_59.lib 
libboost_log-vc120-mt-gd-1_59.lib 
libboost_log_setup-vc120-mt-gd-1_59.lib 
libboost_math_c99-vc120-mt-gd-1_59.lib 
libboost_math_c99f-vc120-mt-gd-1_59.lib 
libboost_math_c99l-vc120-mt-gd-1_59.lib 
libboost_math_tr1-vc120-mt-gd-1_59.lib 
libboost_math_tr1f-vc120-mt-gd-1_59.lib 
libboost_math_tr1l-vc120-mt-gd-1_59.lib 
libboost_mpi-vc120-mt-gd-1_59.lib 
libboost_prg_exec_monitor-vc120-mt-gd-1_59.lib 
libboost_program_options-vc120-mt-gd-1_59.lib 
libboost_random-vc120-mt-gd-1_59.lib 
libboost_regex-vc120-mt-gd-1_59.lib 
libboost_serialization-vc120-mt-gd-1_59.lib 
libboost_signals-vc120-mt-gd-1_59.lib 
libboost_system-vc120-mt-gd-1_59.lib 
libboost_test_exec_monitor-vc120-mt-gd-1_59.lib 
libboost_thread-vc120-mt-gd-1_59.lib 
libboost_timer-vc120-mt-gd-1_59.lib 
libboost_unit_test_framework-vc120-mt-gd-1_59.lib 
libboost_wave-vc120-mt-gd-1_59.lib 
libboost_wserialization-vc120-mt-gd-1_59.lib 
flann-gd.lib 
flann_cpp_s-gd.lib 
flann_s-gd.lib 
qhull-gd.lib 
qhullcpp-gd.lib 
qhullstatic-gd.lib 
qhullstatic_r-gd.lib 
qhull_p-gd.lib 
qhull_r-gd.lib 
vtkalglib-7.0-gd.lib 
vtkChartsCore-7.0-gd.lib 
vtkCommonColor-7.0-gd.lib 
vtkCommonComputationalGeometry-7.0-gd.lib 
vtkCommonCore-7.0-gd.lib 
vtkCommonDataModel-7.0-gd.lib 
vtkCommonExecutionModel-7.0-gd.lib 
vtkCommonMath-7.0-gd.lib 
vtkCommonMisc-7.0-gd.lib 
vtkCommonSystem-7.0-gd.lib 
vtkCommonTransforms-7.0-gd.lib 
vtkDICOMParser-7.0-gd.lib 
vtkDomainsChemistry-7.0-gd.lib 
vtkDomainsChemistryOpenGL2-7.0-gd.lib 
vtkexoIIc-7.0-gd.lib 
vtkexpat-7.0-gd.lib 
vtkFiltersAMR-7.0-gd.lib 
vtkFiltersCore-7.0-gd.lib 
vtkFiltersExtraction-7.0-gd.lib 
vtkFiltersFlowPaths-7.0-gd.lib 
vtkFiltersGeneral-7.0-gd.lib 
vtkFiltersGeneric-7.0-gd.lib 
vtkFiltersGeometry-7.0-gd.lib 
vtkFiltersHybrid-7.0-gd.lib 
vtkFiltersHyperTree-7.0-gd.lib 
vtkFiltersImaging-7.0-gd.lib 
vtkFiltersModeling-7.0-gd.lib 
vtkFiltersParallel-7.0-gd.lib 
vtkFiltersParallelImaging-7.0-gd.lib 
vtkFiltersProgrammable-7.0-gd.lib 
vtkFiltersSelection-7.0-gd.lib 
vtkFiltersSMP-7.0-gd.lib 
vtkFiltersSources-7.0-gd.lib 
vtkFiltersStatistics-7.0-gd.lib 
vtkFiltersTexture-7.0-gd.lib 
vtkFiltersVerdict-7.0-gd.lib 
vtkfreetype-7.0-gd.lib 
vtkGeovisCore-7.0-gd.lib 
vtkglew-7.0-gd.lib 
vtkGUISupportQt-7.0-gd.lib 
vtkGUISupportQtSQL-7.0-gd.lib 
vtkhdf5-7.0-gd.lib 
vtkhdf5_hl-7.0-gd.lib 
vtkImagingColor-7.0-gd.lib 
vtkImagingCore-7.0-gd.lib 
vtkImagingFourier-7.0-gd.lib 
vtkImagingGeneral-7.0-gd.lib 
vtkImagingHybrid-7.0-gd.lib 
vtkImagingMath-7.0-gd.lib 
vtkImagingMorphological-7.0-gd.lib 
vtkImagingSources-7.0-gd.lib 
vtkImagingStatistics-7.0-gd.lib 
vtkImagingStencil-7.0-gd.lib 
vtkInfovisCore-7.0-gd.lib 
vtkInfovisLayout-7.0-gd.lib 
vtkInteractionImage-7.0-gd.lib 
vtkInteractionStyle-7.0-gd.lib 
vtkInteractionWidgets-7.0-gd.lib 
vtkIOAMR-7.0-gd.lib 
vtkIOCore-7.0-gd.lib 
vtkIOEnSight-7.0-gd.lib 
vtkIOExodus-7.0-gd.lib 
vtkIOExport-7.0-gd.lib 
vtkIOGeometry-7.0-gd.lib 
vtkIOImage-7.0-gd.lib 
vtkIOImport-7.0-gd.lib 
vtkIOInfovis-7.0-gd.lib 
vtkIOLegacy-7.0-gd.lib 
vtkIOLSDyna-7.0-gd.lib 
vtkIOMINC-7.0-gd.lib 
vtkIOMovie-7.0-gd.lib 
vtkIONetCDF-7.0-gd.lib 
vtkIOParallel-7.0-gd.lib 
vtkIOParallelXML-7.0-gd.lib 
vtkIOPLY-7.0-gd.lib 
vtkIOSQL-7.0-gd.lib 
vtkIOVideo-7.0-gd.lib 
vtkIOXML-7.0-gd.lib 
vtkIOXMLParser-7.0-gd.lib 
vtkjpeg-7.0-gd.lib 
vtkjsoncpp-7.0-gd.lib 
vtklibxml2-7.0-gd.lib 
vtkmetaio-7.0-gd.lib 
vtkNetCDF-7.0-gd.lib 
vtkNetCDF_cxx-7.0-gd.lib 
vtkoggtheora-7.0-gd.lib 
vtkParallelCore-7.0-gd.lib 
vtkpng-7.0-gd.lib 
vtkproj4-7.0-gd.lib 
vtkRenderingAnnotation-7.0-gd.lib 
vtkRenderingContext2D-7.0-gd.lib 
vtkRenderingContextOpenGL2-7.0-gd.lib 
vtkRenderingCore-7.0-gd.lib 
vtkRenderingFreeType-7.0-gd.lib 
vtkRenderingImage-7.0-gd.lib 
vtkRenderingLabel-7.0-gd.lib 
vtkRenderingLOD-7.0-gd.lib 
vtkRenderingOpenGL2-7.0-gd.lib 
vtkRenderingQt-7.0-gd.lib 
vtkRenderingVolume-7.0-gd.lib 
vtkRenderingVolumeOpenGL2-7.0-gd.lib 
vtksqlite-7.0-gd.lib 
vtksys-7.0-gd.lib 
vtktiff-7.0-gd.lib 
vtkverdict-7.0-gd.lib 
vtkViewsContext2D-7.0-gd.lib 
vtkViewsCore-7.0-gd.lib 
vtkViewsInfovis-7.0-gd.lib 
vtkViewsQt-7.0-gd.lib 
vtkzlib-7.0-gd.lib

上边的包含目录，库目录按你自己的来，附加依赖项有些库版本不同，不同的建议去搜其他的。。

项目环境目录配置

右键解决方案，属性，左侧配置属性–调试，右侧环境设置为： 
PATH=$(PCL_ROOT)\bin;$(PCL_ROOT)\3rdParty\FLANN\bin;$(PCL_ROOT)\3rdParty\VTK\bin 
;$(PCL_ROOT)\Qhull\bin;$(PCL_ROOT)\3rdParty\OpenNI2\Tools;$(PATH) 
（为了好显示我这里换了一下行，你就不用换行了，一行放进去，可以的！）

测试一下

新建一个cpp文件，输入下列代码：

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

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("my_point_cloud.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;
}

运行之后出现图像，鼠标滚轮可以调大小，能看到一个球证明你成功了！ 
好了，把那个属性文件保存出来，每次用的时候在新建项目里导入就可以了……