【踩坑记录】Win10+VS2017安装配置PCL

整吐了，慢慢来慢慢来。什么时候才能进入懒人一键安装（一键被淘汰）的时代

还看到一个教程：​​​​​​https://github.com/PointCloudLibrary/pcl/issues/4462

如果之后换电脑可能会试试CMake的方法？就目前来说我只想把这烂摊子解决了

安装PCL

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

下载All In One版本(1.10.0)。同时下载对应的pdb压缩包。当然也可以自己下载Source code源码自己编译，但用不惯linux，就直接懒人一键吧。

双击exe安装，路径，驱动，ok

弹出path too long installer unable to modify path，然后安装就结束了。

去环境变量里看一下，系统变量里只添加了PCL_ROOT，路径是前面自定义的PCL安装路径。

打开Path，发现里面并没有PCL的相关环境变量。添加以下5项：

%PCL_ROOT%\bin
%PCL_ROOT%\3rdParty\FLANN\bin
%PCL_ROOT%\3rdParty\VTK\bin
%PCL_ROOT%\3rdParty\Qhull\bin
%PCL_ROOT%\3rdParty\OpenNI2\Tools

后来又因为各种原因修改了环境变量：

1.这5项都可以在PCL路径下找到,可以去PCL目录下对照着检查一下，照着一篇博客配置的结果不对，发现是Qhull在3rdParty目录下。不知道是那个博主写错了还是后来版本更新修改了位置。

还有OpenNI2，我之后在添加lib的时候发现，...\3rdParty\OpenNI2目录里只有一个安装程序，然后我搜索了一下。找到OpenNI2的安装目录在C盘。所以上面的最后一条环境变量需要修改：

C:\Program Files\OpenNI2\Tools

2.见后面dll文件找不到的问题，我将%PCL_ROOT%替换为了绝对路径。

在VS2017中配置PCL

项目->属性

1.C/C++->常规->附加包含目录，添加7项

供复制：(这是后来又一次装PCL，所以版本不一样)

D:\PCL\PCL 1.12.1\3rdParty\Eigen\eigen3
D:\PCL\PCL 1.12.1\3rdParty\VTK\include\vtk-9.1
D:\PCL\PCL 1.12.1\3rdParty\Qhull\include
D:\PCL\PCL 1.12.1\3rdParty\FLANN\include
D:\PCL\PCL 1.12.1\include\pcl-1.12
D:\PCL\PCL 1.12.1\3rdParty\Boost\include\boost-1_78
C:\Program Files\OpenNI2\Include

2.链接器->常规->附加库目录，添加7项

供复制：

D:\PCL\PCL 1.12.1\3rdParty\Qhull\lib
D:\PCL\PCL 1.12.1\3rdParty\VTK\lib
D:\PCL\PCL 1.12.1\3rdParty\FLANN\lib
D:\PCL\PCL 1.12.1\3rdParty\Boost\lib
D:\PCL\PCL 1.12.1\lib
C:\Program Files\OpenNI2\Lib

3.链接器->输入，附加依赖项，这里要添加的东西就很多了，建议参考：VS中PCL库附加依赖项配置 - life_limbo - 博客园，利用bat脚本来生成包含文件名的txt，方便复制。要提一句，在pcl的lib下，因为我的文件和参考的博客里的文件是不同的，参考博客里的文件名末尾是debug和release，而我的debug版本是末尾为d，release版本末尾无d。所以要修改bat脚本的内容，当然很简单，改一下匹配就行了。

与链接中的版本不同，我安装的pcl对应文件后缀改变了

 写了个python来实现之前同样的功能，一次性全部搞定！

import os


def lib_to_txt(save_root_path, files_from, arg_debug_suffix, arg_release_suffix):
    files_debug = open(os.path.join(save_root_path, "debug.txt"), "a")
    files_release = open(os.path.join(save_root_path, "release.txt"), "a")
    files_all = open(os.path.join(save_root_path, "all.txt"), "a")
    files = os.listdir(files_from)
    for file in files:
        if file[-4:] == ".lib":
            if file[-len(arg_debug_suffix):] == arg_debug_suffix:
                files_debug.write(file + "\n")
                files_all.write(file + "\n")
            else:
                if file[-len(arg_release_suffix):] == arg_release_suffix:
                    files_release.write(file + "\n")
                    files_all.write(file + "\n")
    files_debug.close()
    files_release.close()


if __name__ == '__main__':
    save_txt_to = "D:/PCL/"  # save txt to
    # need check and change
    input = [
        {"lib_path": r"D:\PCL\PCL 1.12.1\lib", "debug_suffix": "d.lib", "release_suffix": ".lib"},
        {"lib_path": r"D:\PCL\PCL 1.12.1\3rdParty/Boost/lib", "debug_suffix": "-gd-x64-1_78.lib", "release_suffix": "-x64-1_78.lib"},
        {"lib_path": r"D:\PCL\PCL 1.12.1\3rdParty\VTK\lib", "debug_suffix": "d.lib", "release_suffix": ".lib"},
        {"lib_path": r"C:\Program Files\OpenNI2\Lib", "debug_suffix": "d.lib", "release_suffix": ".lib"},
        {"lib_path": r"D:\PCL\PCL 1.12.1\3rdParty\FLANN\lib", "debug_suffix": "-gd.lib", "release_suffix": ".lib"},
        {"lib_path": r"D:\PCL\PCL 1.12.1\3rdParty\Qhull\lib", "debug_suffix": "d.lib", "release_suffix": ".lib"}
    ]
    for dict in input:
        print(f'{dict["lib_path"]}, {dict["debug_suffix"]}, {dict["release_suffix"]}')
        lib_to_txt(save_txt_to, dict["lib_path"], dict["debug_suffix"], dict["release_suffix"])

 %PCL_ROOT%\lib

文件夹都需要根据文件夹中的内容修改匹配后缀

3rdParty/Boost/lib

3rdParty\VTK\lib

OpenNI2\Lib

3rdParty\FLANN\lib

3rdParty\Qhull\lib

 （不建议直接复制）列一下我添加的debug依赖项： 

pcl_commond.lib
pcl_featuresd.lib
pcl_filtersd.lib
pcl_iod.lib
pcl_io_plyd.lib
pcl_kdtreed.lib
pcl_keypointsd.lib
pcl_mld.lib
pcl_octreed.lib
pcl_outofcored.lib
pcl_peopled.lib
pcl_recognitiond.lib
pcl_registrationd.lib
pcl_sample_consensusd.lib
pcl_searchd.lib
pcl_segmentationd.lib
pcl_stereod.lib
pcl_surfaced.lib
pcl_trackingd.lib
pcl_visualizationd.lib
libboost_atomic-vc141-mt-gd-x64-1_72.lib
libboost_chrono-vc141-mt-gd-x64-1_72.lib
libboost_container-vc141-mt-gd-x64-1_72.lib
libboost_context-vc141-mt-gd-x64-1_72.lib
libboost_contract-vc141-mt-gd-x64-1_72.lib
libboost_coroutine-vc141-mt-gd-x64-1_72.lib
libboost_date_time-vc141-mt-gd-x64-1_72.lib
libboost_exception-vc141-mt-gd-x64-1_72.lib
libboost_fiber-vc141-mt-gd-x64-1_72.lib
libboost_filesystem-vc141-mt-gd-x64-1_72.lib
libboost_graph-vc141-mt-gd-x64-1_72.lib
libboost_iostreams-vc141-mt-gd-x64-1_72.lib
libboost_locale-vc141-mt-gd-x64-1_72.lib
libboost_log-vc141-mt-gd-x64-1_72.lib
libboost_log_setup-vc141-mt-gd-x64-1_72.lib
libboost_math_c99-vc141-mt-gd-x64-1_72.lib
libboost_math_c99f-vc141-mt-gd-x64-1_72.lib
libboost_math_c99l-vc141-mt-gd-x64-1_72.lib
libboost_math_tr1-vc141-mt-gd-x64-1_72.lib
libboost_math_tr1f-vc141-mt-gd-x64-1_72.lib
libboost_math_tr1l-vc141-mt-gd-x64-1_72.lib
libboost_numpy37-vc141-mt-gd-x64-1_72.lib
libboost_prg_exec_monitor-vc141-mt-gd-x64-1_72.lib
libboost_program_options-vc141-mt-gd-x64-1_72.lib
libboost_python37-vc141-mt-gd-x64-1_72.lib
libboost_random-vc141-mt-gd-x64-1_72.lib
libboost_regex-vc141-mt-gd-x64-1_72.lib
libboost_serialization-vc141-mt-gd-x64-1_72.lib
libboost_stacktrace_noop-vc141-mt-gd-x64-1_72.lib
libboost_stacktrace_windbg-vc141-mt-gd-x64-1_72.lib
libboost_stacktrace_windbg_cached-vc141-mt-gd-x64-1_72.lib
libboost_system-vc141-mt-gd-x64-1_72.lib
libboost_test_exec_monitor-vc141-mt-gd-x64-1_72.lib
libboost_thread-vc141-mt-gd-x64-1_72.lib
libboost_timer-vc141-mt-gd-x64-1_72.lib
libboost_type_erasure-vc141-mt-gd-x64-1_72.lib
libboost_unit_test_framework-vc141-mt-gd-x64-1_72.lib
libboost_wave-vc141-mt-gd-x64-1_72.lib
libboost_wserialization-vc141-mt-gd-x64-1_72.lib
OpenNI2.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_r_d.lib
qhull_d.lib
qhull_p_d.lib
qhull_r_d.lib
vtkChartsCore-8.2-gd.lib
vtkCommonColor-8.2-gd.lib
vtkCommonComputationalGeometry-8.2-gd.lib
vtkCommonCore-8.2-gd.lib
vtkCommonDataModel-8.2-gd.lib
vtkCommonExecutionModel-8.2-gd.lib
vtkCommonMath-8.2-gd.lib
vtkCommonMisc-8.2-gd.lib
vtkCommonSystem-8.2-gd.lib
vtkCommonTransforms-8.2-gd.lib
vtkDICOMParser-8.2-gd.lib
vtkDomainsChemistry-8.2-gd.lib
vtkDomainsChemistryOpenGL2-8.2-gd.lib
vtkdoubleconversion-8.2-gd.lib
vtkexodusII-8.2-gd.lib
vtkexpat-8.2-gd.lib
vtkFiltersAMR-8.2-gd.lib
vtkFiltersCore-8.2-gd.lib
vtkFiltersExtraction-8.2-gd.lib
vtkFiltersFlowPaths-8.2-gd.lib
vtkFiltersGeneral-8.2-gd.lib
vtkFiltersGeneric-8.2-gd.lib
vtkFiltersGeometry-8.2-gd.lib
vtkFiltersHybrid-8.2-gd.lib
vtkFiltersHyperTree-8.2-gd.lib
vtkFiltersImaging-8.2-gd.lib
vtkFiltersModeling-8.2-gd.lib
vtkFiltersParallel-8.2-gd.lib
vtkFiltersParallelImaging-8.2-gd.lib
vtkFiltersPoints-8.2-gd.lib
vtkFiltersProgrammable-8.2-gd.lib
vtkFiltersSelection-8.2-gd.lib
vtkFiltersSMP-8.2-gd.lib
vtkFiltersSources-8.2-gd.lib
vtkFiltersStatistics-8.2-gd.lib
vtkFiltersTexture-8.2-gd.lib
vtkFiltersTopology-8.2-gd.lib
vtkFiltersVerdict-8.2-gd.lib
vtkfreetype-8.2-gd.lib
vtkGeovisCore-8.2-gd.lib
vtkgl2ps-8.2-gd.lib
vtkglew-8.2-gd.lib
vtkGUISupportMFC-8.2-gd.lib
vtkhdf5-8.2-gd.lib
vtkhdf5_hl-8.2-gd.lib
vtkImagingColor-8.2-gd.lib
vtkImagingCore-8.2-gd.lib
vtkImagingFourier-8.2-gd.lib
vtkImagingGeneral-8.2-gd.lib
vtkImagingHybrid-8.2-gd.lib
vtkImagingMath-8.2-gd.lib
vtkImagingMorphological-8.2-gd.lib
vtkImagingSources-8.2-gd.lib
vtkImagingStatistics-8.2-gd.lib
vtkImagingStencil-8.2-gd.lib
vtkInfovisCore-8.2-gd.lib
vtkInfovisLayout-8.2-gd.lib
vtkInteractionImage-8.2-gd.lib
vtkInteractionStyle-8.2-gd.lib
vtkInteractionWidgets-8.2-gd.lib
vtkIOAMR-8.2-gd.lib
vtkIOAsynchronous-8.2-gd.lib
vtkIOCityGML-8.2-gd.lib
vtkIOCore-8.2-gd.lib
vtkIOEnSight-8.2-gd.lib
vtkIOExodus-8.2-gd.lib
vtkIOExport-8.2-gd.lib
vtkIOExportOpenGL2-8.2-gd.lib
vtkIOExportPDF-8.2-gd.lib
vtkIOGeometry-8.2-gd.lib
vtkIOImage-8.2-gd.lib
vtkIOImport-8.2-gd.lib
vtkIOInfovis-8.2-gd.lib
vtkIOLegacy-8.2-gd.lib
vtkIOLSDyna-8.2-gd.lib
vtkIOMINC-8.2-gd.lib
vtkIOMovie-8.2-gd.lib
vtkIONetCDF-8.2-gd.lib
vtkIOParallel-8.2-gd.lib
vtkIOParallelXML-8.2-gd.lib
vtkIOPLY-8.2-gd.lib
vtkIOSegY-8.2-gd.lib
vtkIOSQL-8.2-gd.lib
vtkIOTecplotTable-8.2-gd.lib
vtkIOVeraOut-8.2-gd.lib
vtkIOVideo-8.2-gd.lib
vtkIOXML-8.2-gd.lib
vtkIOXMLParser-8.2-gd.lib
vtkjpeg-8.2-gd.lib
vtkjsoncpp-8.2-gd.lib
vtklibharu-8.2-gd.lib
vtklibxml2-8.2-gd.lib
vtklz4-8.2-gd.lib
vtklzma-8.2-gd.lib
vtkmetaio-8.2-gd.lib
vtkNetCDF-8.2-gd.lib
vtkogg-8.2-gd.lib
vtkParallelCore-8.2-gd.lib
vtkpng-8.2-gd.lib
vtkproj-8.2-gd.lib
vtkpugixml-8.2-gd.lib
vtkRenderingAnnotation-8.2-gd.lib
vtkRenderingContext2D-8.2-gd.lib
vtkRenderingContextOpenGL2-8.2-gd.lib
vtkRenderingCore-8.2-gd.lib
vtkRenderingExternal-8.2-gd.lib
vtkRenderingFreeType-8.2-gd.lib
vtkRenderingGL2PSOpenGL2-8.2-gd.lib
vtkRenderingImage-8.2-gd.lib
vtkRenderingLabel-8.2-gd.lib
vtkRenderingLOD-8.2-gd.lib
vtkRenderingOpenGL2-8.2-gd.lib
vtkRenderingVolume-8.2-gd.lib
vtkRenderingVolumeOpenGL2-8.2-gd.lib
vtksqlite-8.2-gd.lib
vtksys-8.2-gd.lib
vtktheora-8.2-gd.lib
vtktiff-8.2-gd.lib
vtkverdict-8.2-gd.lib
vtkViewsContext2D-8.2-gd.lib
vtkViewsCore-8.2-gd.lib
vtkViewsInfovis-8.2-gd.lib
vtkzlib-8.2-gd.lib

运行demo时遇到的错误 

LINK : fatal error LNK1104: 无法打开文件“libboost_filesystem-vc141-mt-gd-x64-1_72.lib”

 LINK : fatal error LNK1104: 无法打开文件“libboost_filesystem-vc141-mt-sgd-x64-1_72.lib”

LINK : fatal error LNK1104: 无法打开文件“libboost_filesystem-vc141-mt-sgd-x64-1_72.lib”_winka9587的博客-CSDN博客

由于找不到vcruntime140_1d.dll,无法继续执行代码

这个报错网上很常见了，一搜一大把，只要去下一个vcruntime140_1d.dll然后放到C:\Windows\System32（64位）

找不到pcl_iod.dll

找不到pcl_commond.dll

去pcl-版本/bin目录下，能够找到这两个dll文件，修改了一下环境变量，把里面的%PCL_ROOT%换成了绝对路径。

 整个demo测试

参考 PCL demo运行_tellw0.0的博客-CSDN博客

如果报错_open不安全

 C/C++-预处理器-预处理器定义:_CRT_SECURE_NO_WARNINGS