Qt5.9.4+VS2015 部署PCL1.8.1

0 编译环境

所需软件包及版本

Qt5.9.4	msvc2015_64
VS2015
VTK 8.0.0	https://gitlab.kitware.com/vtk/vtk/tree/v8.0.0
PCL1.8.1	https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.8.1 PCL-1.8.1-AllInOne-msvc2015-win64
cmake3.11.3	https://cmake.org/download/

1 准备

下载上述软件。

安装vs2015。

安装Qt5.9.4。

在VS2015扩展和更新中安装 Qt Visual Studio Tools。

2 在VS中安装PCL 1.8.1

2.1 下载安装

需要下载AllinOne和pdb两个包，我选择的是2015-win64版本。

自动在环境变量中添加PCL路径

PCL安装路径，网上说路径不能有空格。

将OpenNI2安装到PCL1.8.1\3rdParty\OpenNI2\目录，这是为了便于管理，可以选择自己喜欢的目录。修改也很方便，OpenNI2可以单独卸载安装。安装包就在PCL1.8.1\3rdParty\OpenNI2\目录。

2.2 编译tutorials

tutorials的路径在C:\PCL1.8.1\share\doc\pcl-1.8\tutorials\sources下。

所以首先用cmake进行配置，配置完成后，DAVID和PKG都提示找不到，如果不用就不管。我用到了RSSDK，所以加上了。

选择Generate，我选择的是Visual Studio 14 2015 Win64。

选择open project后，vs2015就会打开工程。直接生成，结束后会有一些错误，比如：

无法打开 源 文件 "pcl/io/openni_grabber.h"

2.4 运行PCL VS2015 demo

略过错误

将pcl_visualizer_demo设为启动项。

设置命行参数为-c，

启动后看到如图效果。说明PCL库+VS已经OK。

3 在Qt中安装PCL 1.8.1

在Qt中安装PCL1.8.1必须先做到本文第2部分。

PCL1.8.1中集成了VTK8.0.0，但是和VTK官网的8.0.0在个别文件上有差异，这就导致了在QT工程中集成PCL会出一些问题，比如找不到函数，debug和release版本冲突等问题。一些常用的解决办法，如

#include <vtkAutoInit.h>

VTK_MODULE_INIT(vtkRenderingOpenGL2);

VTK_MODULE_INIT(vtkInteractionStyle);

并不能解决这些问题，所以解决思路是用VTK官方提供的8.0.0替换掉PCL_AllinOne中的VTK。

3.1 下载并编译VTK8.0.0

点击下载已经编译好的VTK8.0.0库，可跳过3.1。 https://download.csdn.net/download/jepco1/10489293

具体方法参考博客中另一篇帖子VTK8.1.1的编译方法。

同样需要编译debug和release版本。

编译的结果被放在install目录和build目录。

build目录在这里被指定。

install目录在这里被指定。

3.2 安装及配置

生成的编译结果和路径如表

include	VTK_INSTALLL\include
lib	VTK_build\lib
dll	VTK_build\bin
plugin	VTK_build\bin\Release\QVTKWidgetPlugin.dll

lib和dll都是区分debug和release的。

替换bin

将VTK_ build\bin的debug和release文件夹复制到C:\PCL1.8.1\3rdParty\VTK\bin

替换lib

将VTK_ build\lib的debug和release复制到C:\PCL1.8.1\3rdParty\VTK\lib

替换include

删除C:\PCL1.8.1\3rdParty\VTK\include目录的文件。

将VTK_Install\include目录的内容复制到C:\PCL1.8.1\3rdParty\VTK\include

安装 plugin

VTK_build\bin\Release\QVTKWidgetPlugin.dll文件复制到qt的插件目录

3.3 设置环境变量

PCL自动添加的环境变量不一定正确完整，建议检查一下。

PCL_ROOT存在且位置正确。

4个bin文件存在，且位置正确。

注意：这里要将VTK\bin路径删除。因为PCL中的VTK dll没有区分release和debug版本。需要通过编译器的环境配置，通过路径区分版本，这里如果包含了VTK\bin路径就会形成干扰。

4 编译qt_visualizer

直接下载工程可以跳过第4步，直接编译。

https://download.csdn.net/download/jepco1/10489267

4.1 打开qt_visualizer

位于C:\PCL1.8.1\share\doc\pcl-1.8\tutorials\sources\qt_visualizer

4.2 配置环境变量（dll路径）

debug

PATH=$(QTDIR)\bin$(PATH)$(PCL_ROOT)\3rdParty\VTK\bin\debug

release

PATH=$(QTDIR)\bin$(PATH)$(PCL_ROOT)\3rdParty\VTK\bin\release

4.3 配置include（.h路径）

debug|release

.\GeneratedFiles\$(ConfigurationName);.\GeneratedFiles;.;$(QTDIR)\include;$(QTDIR)\include\QtWidgets;$(QTDIR)\include\QtGui;$(QTDIR)\include\QtANGLE;$(QTDIR)\include\QtCore;debug;$(QTDIR)\mkspecs\win32-msvc;$(PCL_ROOT)\include\pcl-1.8;$(PCL_ROOT)\include\pcl-1.8\pcl;$(PCL_ROOT)\3rdParty\Boost\include\boost-1_64;$(PCL_ROOT)\3rdParty\Eigen\eigen3;$(PCL_ROOT)\3rdParty\FLANN\include;$(PCL_ROOT)\3rdParty\OpenNI2\Include\Win32;$(PCL_ROOT)\3rdParty\Qhull\include;$(PCL_ROOT)\3rdParty\VTK\include\vtk-8.0;%(AdditionalIncludeDirectories)

4.4 配置lib路径

debug

$(QTDIR)\lib;$(PCL_ROOT)\lib;$(PCL_ROOT)\3rdParty\FLANN\lib;$(PCL_ROOT)\3rdParty\Boost\lib;$(PCL_ROOT)\3rdParty\Qhull\lib;$(PCL_ROOT)\3rdParty\VTK\lib\debug;$(PCL_ROOT)\3rdParty\OpenNI2\Lib;%(AdditionalLibraryDirectories)

release

$(QTDIR)\lib;$(PCL_ROOT)\lib;$(PCL_ROOT)\3rdParty\FLANN\lib;$(PCL_ROOT)\3rdParty\Boost\lib;$(PCL_ROOT)\3rdParty\Qhull\lib;$(PCL_ROOT)\3rdParty\VTK\lib\release;$(PCL_ROOT)\3rdParty\OpenNI2\Lib;%(AdditionalLibraryDirectories)

4.5 配置lib文件

debug

qtmaind.lib

shell32.lib

Qt5Widgetsd.lib

Qt5Guid.lib

Qt5Cored.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-vc140-mt-gd-1_64.lib

libboost_bzip2-vc140-mt-gd-1_64.lib

libboost_chrono-vc140-mt-gd-1_64.lib

libboost_container-vc140-mt-gd-1_64.lib

libboost_context-vc140-mt-gd-1_64.lib

libboost_coroutine-vc140-mt-gd-1_64.lib

libboost_date_time-vc140-mt-gd-1_64.lib

libboost_exception-vc140-mt-gd-1_64.lib

libboost_fiber-vc140-mt-gd-1_64.lib

libboost_filesystem-vc140-mt-gd-1_64.lib

libboost_graph-vc140-mt-gd-1_64.lib

libboost_graph_parallel-vc140-mt-gd-1_64.lib

libboost_iostreams-vc140-mt-gd-1_64.lib

libboost_locale-vc140-mt-gd-1_64.lib

libboost_log-vc140-mt-gd-1_64.lib

libboost_log_setup-vc140-mt-gd-1_64.lib

libboost_math_c99-vc140-mt-gd-1_64.lib

libboost_math_c99f-vc140-mt-gd-1_64.lib

libboost_math_c99l-vc140-mt-gd-1_64.lib

libboost_math_tr1-vc140-mt-gd-1_64.lib

libboost_math_tr1f-vc140-mt-gd-1_64.lib

libboost_math_tr1l-vc140-mt-gd-1_64.lib

libboost_mpi-vc140-mt-gd-1_64.lib

libboost_numpy3-vc140-mt-gd-1_64.lib

libboost_numpy-vc140-mt-gd-1_64.lib

libboost_prg_exec_monitor-vc140-mt-gd-1_64.lib

libboost_program_options-vc140-mt-gd-1_64.lib

libboost_python3-vc140-mt-gd-1_64.lib

libboost_python-vc140-mt-gd-1_64.lib

libboost_random-vc140-mt-gd-1_64.lib

libboost_regex-vc140-mt-gd-1_64.lib

libboost_serialization-vc140-mt-gd-1_64.lib

libboost_signals-vc140-mt-gd-1_64.lib

libboost_system-vc140-mt-gd-1_64.lib

libboost_test_exec_monitor-vc140-mt-gd-1_64.lib

libboost_thread-vc140-mt-gd-1_64.lib

libboost_timer-vc140-mt-gd-1_64.lib

libboost_type_erasure-vc140-mt-gd-1_64.lib

libboost_unit_test_framework-vc140-mt-gd-1_64.lib

libboost_wave-vc140-mt-gd-1_64.lib

libboost_wserialization-vc140-mt-gd-1_64.lib

libboost_zlib-vc140-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

vtkGUISupportQt-8.0.lib

vtkRenderingOpenGL2-8.0.lib

vtkglew-8.0.lib

vtkInteractionImage-8.0.lib

vtkInteractionWidgets-8.0.lib

vtkFiltersHybrid-8.0.lib

vtkFiltersModeling-8.0.lib

vtkImagingGeneral-8.0.lib

vtkImagingHybrid-8.0.lib

vtkRenderingAnnotation-8.0.lib

vtkRenderingFreeType-8.0.lib

vtkfreetype-8.0.lib

vtkRenderingVolume-8.0.lib

vtkIOXML-8.0.lib

vtkIOXMLParser-8.0.lib

vtkexpat-8.0.lib

vtkInteractionStyle-8.0.lib

vtkFiltersExtraction-8.0.lib

vtkFiltersStatistics-8.0.lib

vtkImagingFourier-8.0.lib

vtkalglib-8.0.lib

vtkImagingSources-8.0.lib

vtkIOImage-8.0.lib

vtkDICOMParser-8.0.lib

vtkmetaio-8.0.lib

vtkpng-8.0.lib

vtktiff-8.0.lib

vtkjpeg-8.0.lib

vtkImagingColor-8.0.lib

vtkImagingCore-8.0.lib

vtkRenderingCore-8.0.lib

vtkFiltersSources-8.0.lib

vtkFiltersGeneral-8.0.lib

vtkCommonComputationalGeometry-8.0.lib

vtkCommonColor-8.0.lib

vtkFiltersGeometry-8.0.lib

vtkFiltersCore-8.0.lib

vtkIOCore-8.0.lib

vtkCommonExecutionModel-8.0.lib

vtkCommonDataModel-8.0.lib

vtkCommonTransforms-8.0.lib

vtkCommonMisc-8.0.lib

vtkCommonMath-8.0.lib

vtkCommonSystem-8.0.lib

vtkCommonCore-8.0.lib

vtksys-8.0.lib

release

qtmain.lib

shell32.lib

Qt5Widgets.lib

Qt5Gui.lib

Qt5Core.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-vc140-mt-1_64.lib

libboost_bzip2-vc140-mt-1_64.lib

libboost_chrono-vc140-mt-1_64.lib

libboost_container-vc140-mt-1_64.lib

libboost_context-vc140-mt-1_64.lib

libboost_coroutine-vc140-mt-1_64.lib

libboost_date_time-vc140-mt-1_64.lib

libboost_exception-vc140-mt-1_64.lib

libboost_fiber-vc140-mt-1_64.lib

libboost_filesystem-vc140-mt-1_64.lib

libboost_graph-vc140-mt-1_64.lib

libboost_graph_parallel-vc140-mt-1_64.lib

libboost_iostreams-vc140-mt-1_64.lib

libboost_locale-vc140-mt-1_64.lib

libboost_log-vc140-mt-1_64.lib

libboost_log_setup-vc140-mt-1_64.lib

libboost_math_c99-vc140-mt-1_64.lib

libboost_math_c99f-vc140-mt-1_64.lib

libboost_math_c99l-vc140-mt-1_64.lib

libboost_math_tr1-vc140-mt-1_64.lib

libboost_math_tr1f-vc140-mt-1_64.lib

libboost_math_tr1l-vc140-mt-1_64.lib

libboost_mpi-vc140-mt-1_64.lib

libboost_numpy3-vc140-mt-1_64.lib

libboost_numpy-vc140-mt-1_64.lib

libboost_prg_exec_monitor-vc140-mt-1_64.lib

libboost_program_options-vc140-mt-1_64.lib

libboost_python3-vc140-mt-1_64.lib

libboost_python-vc140-mt-1_64.lib

libboost_random-vc140-mt-1_64.lib

libboost_regex-vc140-mt-1_64.lib

libboost_serialization-vc140-mt-1_64.lib

libboost_signals-vc140-mt-1_64.lib

libboost_system-vc140-mt-1_64.lib

libboost_test_exec_monitor-vc140-mt-1_64.lib

libboost_thread-vc140-mt-1_64.lib

libboost_timer-vc140-mt-1_64.lib

libboost_type_erasure-vc140-mt-1_64.lib

libboost_unit_test_framework-vc140-mt-1_64.lib

libboost_wave-vc140-mt-1_64.lib

libboost_wserialization-vc140-mt-1_64.lib

libboost_zlib-vc140-mt-1_64.lib

flann.lib

flann_cpp.lib

flann_cpp_s.lib

flann_s.lib

qhull_d.lib

qhullcpp_d.lib

qhullstatic_d.lib

qhullstatic_r_d.lib

qhull_p_d.lib

qhull_r_d.lib

vtkGUISupportQt-8.0.lib

vtkRenderingOpenGL2-8.0.lib

vtkglew-8.0.lib

vtkInteractionImage-8.0.lib

vtkInteractionWidgets-8.0.lib

vtkFiltersHybrid-8.0.lib

vtkFiltersModeling-8.0.lib

vtkImagingGeneral-8.0.lib

vtkImagingHybrid-8.0.lib

vtkRenderingAnnotation-8.0.lib

vtkRenderingFreeType-8.0.lib

vtkfreetype-8.0.lib

vtkRenderingVolume-8.0.lib

vtkIOXML-8.0.lib

vtkIOXMLParser-8.0.lib

vtkexpat-8.0.lib

vtkInteractionStyle-8.0.lib

vtkFiltersExtraction-8.0.lib

vtkFiltersStatistics-8.0.lib

vtkImagingFourier-8.0.lib

vtkalglib-8.0.lib

vtkImagingSources-8.0.lib

vtkIOImage-8.0.lib

vtkDICOMParser-8.0.lib

vtkmetaio-8.0.lib

vtkpng-8.0.lib

vtktiff-8.0.lib

vtkjpeg-8.0.lib

vtkImagingColor-8.0.lib

vtkImagingCore-8.0.lib

vtkRenderingCore-8.0.lib

vtkFiltersSources-8.0.lib

vtkFiltersGeneral-8.0.lib

vtkCommonComputationalGeometry-8.0.lib

vtkCommonColor-8.0.lib

vtkFiltersGeometry-8.0.lib

vtkFiltersCore-8.0.lib

vtkIOCore-8.0.lib

vtkCommonExecutionModel-8.0.lib

vtkCommonDataModel-8.0.lib

vtkCommonTransforms-8.0.lib

vtkCommonMisc-8.0.lib

vtkCommonMath-8.0.lib

vtkCommonSystem-8.0.lib

vtkCommonCore-8.0.lib

vtksys-8.0.lib

4.6 修改代码

在pclviewer.h中添加如下代码

#include <vtkAutoInit.h>

VTK_MODULE_INIT(vtkRenderingOpenGL2);

VTK_MODULE_INIT(vtkInteractionStyle);

4.6 运行效果