vs2019配置点云库PCL1.12.1

参考文章：
1、超详细保姆级PCL1.14.0 安装配置流程
2、Win10+VS2019环境下配置点云库PCL1.11.1（超详细）
3、win10系统VS2019配置点云库PCL1.12.1的教程与经验总结
感谢各位大佬的经验。
写在前面：第一次配置PCL其实用的是1.14.1，但是莫名有很多错误，这个版本比较新，参考文章比较少，所以后面才换的1.12.1。同时项目一开始我们就要设置平台及活动

一、PCL的安装
具体安装比较简单，主要注意压缩文件解压后添加到主目录bin中以及"E:\install_over\PCL\3rdParty\OpenNI2"中没有安装文件（需要将里面的安装包安装到该文件夹下）具体可参考文章开头文献，最主要的就是环境变量的配置。由于我的PCL安装路径为“E:\install_over\PCL”，所以根据自己安装路径修改环境变量。

OPENNI2_INCLUDE64 E:\install_over\PCL\3rdParty\OpenNI2\Include\
OPENNI2_LIB64  E:\install_over\PCL\3rdParty\OpenNI2\Lib\
OPENNI2_REDIST64  E:\install_over\PCL\3rdParty\OpenNI2\Redist\
PCL_ROOT   E:\install_over\PCL

上面的环境变量一般在安装PCL的时候就会加进去。没有加进去可以根据自己路径进行新建。
然后对path进行新建，新建项主要如下

E:\install_over\PCL\3rdParty\OpenNI2\Tools
E:\install_over\PCL\3rdParty\OpenNI2\Redist
E:\install_over\PCL\3rdParty\Boost\lib
E:\install_over\PCL\3rdParty\Qhull\bin
E:\install_over\PCL\3rdParty\FLANN\bin
E:\install_over\PCL\bin
%OPENNI2_REDIST64%
%OPENNI2_INCLUDE64%
%OPENNI2_LIB64%

二、VS2019配置。
VS2019配置是重中之重，有好多地方细节需要注意。
1.debug X64活动项配置：
我的项目用的是debug x64，具体我们先在工程文件的属性管理器的debug x64右键新建一个属性表，比如我这里的pcl。


双击打开其进行配置，主要配置为

包含目录：

E:\install_over\PCL\3rdParty\Eigen\eigen3
E:\install_over\PCL\3rdParty\FLANN\include
E:\install_over\PCL\3rdParty\VTK\include\vtk-9.1
E:\install_over\PCL\3rdParty\Qhull\include
E:\install_over\PCL\include\pcl-1.12
E:\install_over\PCL\3rdParty\Boost\include\boost-1_78
E:\install_over\PCL\3rdParty\OpenNI2\Include

库目录：

E:\install_over\PCL\\3rdParty\Boost\lib
E:\install_over\PCL\3rdParty\FLANN\lib
E:\install_over\PCL\3rdParty\OpenNI2\Lib
E:\install_over\PCL\3rdParty\Qhull\lib
E:\install_over\PCL\3rdParty\VTK\lib
E:\install_over\PCL\lib

添加预处理器：

_DEBUG
_CONSOLE
BOOST_USE_WINDOWS_H
NOMINMAX
_CRT_SECURE_NO_DEPERCATE

代码生成：
语言符合模式：
链接器输入！！！！！！！！！！（重点）

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-vc142-mt-gd-x64-1_78.lib
libboost_bzip2-vc142-mt-gd-x64-1_78.lib
libboost_chrono-vc142-mt-gd-x64-1_78.lib
libboost_container-vc142-mt-gd-x64-1_78.lib
libboost_context-vc142-mt-gd-x64-1_78.lib
libboost_contract-vc142-mt-gd-x64-1_78.lib
libboost_coroutine-vc142-mt-gd-x64-1_78.lib
libboost_date_time-vc142-mt-gd-x64-1_78.lib
libboost_exception-vc142-mt-gd-x64-1_78.lib
libboost_filesystem-vc142-mt-gd-x64-1_78.lib
libboost_graph-vc142-mt-gd-x64-1_78.lib
libboost_graph_parallel-vc142-mt-gd-x64-1_78.lib
libboost_iostreams-vc142-mt-gd-x64-1_78.lib
libboost_json-vc142-mt-gd-x64-1_78.lib
libboost_locale-vc142-mt-gd-x64-1_78.lib
libboost_log-vc142-mt-gd-x64-1_78.lib
libboost_log_setup-vc142-mt-gd-x64-1_78.lib
libboost_math_c99-vc142-mt-gd-x64-1_78.lib
libboost_math_c99f-vc142-mt-gd-x64-1_78.lib
libboost_math_c99l-vc142-mt-gd-x64-1_78.lib
libboost_math_tr1-vc142-mt-gd-x64-1_78.lib
libboost_math_tr1f-vc142-mt-gd-x64-1_78.lib
libboost_math_tr1l-vc142-mt-gd-x64-1_78.lib
libboost_mpi-vc142-mt-gd-x64-1_78.lib
libboost_nowide-vc142-mt-gd-x64-1_78.lib
libboost_numpy38-vc142-mt-gd-x64-1_78.lib
libboost_prg_exec_monitor-vc142-mt-gd-x64-1_78.lib
libboost_program_options-vc142-mt-gd-x64-1_78.lib
libboost_python38-vc142-mt-gd-x64-1_78.lib
libboost_random-vc142-mt-gd-x64-1_78.lib
libboost_regex-vc142-mt-gd-x64-1_78.lib
libboost_serialization-vc142-mt-gd-x64-1_78.lib
libboost_system-vc142-mt-gd-x64-1_78.lib
libboost_test_exec_monitor-vc142-mt-gd-x64-1_78.lib
libboost_thread-vc142-mt-gd-x64-1_78.lib
libboost_timer-vc142-mt-gd-x64-1_78.lib
libboost_type_erasure-vc142-mt-gd-x64-1_78.lib
libboost_unit_test_framework-vc142-mt-gd-x64-1_78.lib
libboost_wave-vc142-mt-gd-x64-1_78.lib
libboost_wserialization-vc142-mt-gd-x64-1_78.lib
libboost_zlib-vc142-mt-gd-x64-1_78.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
OpenNI2.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_rd.lib
qhull_rd.lib
vtkcgns-9.1d.lib
vtkChartsCore-9.1d.lib
vtkCommonColor-9.1d.lib
vtkCommonComputationalGeometry-9.1d.lib
vtkCommonCore-9.1d.lib
vtkCommonDataModel-9.1d.lib
vtkCommonExecutionModel-9.1d.lib
vtkCommonMath-9.1d.lib
vtkCommonMisc-9.1d.lib
vtkCommonSystem-9.1d.lib
vtkCommonTransforms-9.1d.lib
vtkDICOMParser-9.1d.lib
vtkDomainsChemistry-9.1d.lib
vtkDomainsChemistryOpenGL2-9.1d.lib
vtkdoubleconversion-9.1d.lib
vtkexodusII-9.1d.lib
vtkexpat-9.1d.lib
vtkFiltersAMR-9.1d.lib
vtkFiltersCore-9.1d.lib
vtkFiltersExtraction-9.1d.lib
vtkFiltersFlowPaths-9.1d.lib
vtkFiltersGeneral-9.1d.lib
vtkFiltersGeneric-9.1d.lib
vtkFiltersGeometry-9.1d.lib
vtkFiltersHybrid-9.1d.lib
vtkFiltersHyperTree-9.1d.lib
vtkFiltersImaging-9.1d.lib
vtkFiltersModeling-9.1d.lib
vtkFiltersParallel-9.1d.lib
vtkFiltersParallelImaging-9.1d.lib
vtkFiltersPoints-9.1d.lib
vtkFiltersProgrammable-9.1d.lib
vtkFiltersSelection-9.1d.lib
vtkFiltersSMP-9.1d.lib
vtkFiltersSources-9.1d.lib
vtkFiltersStatistics-9.1d.lib
vtkFiltersTexture-9.1d.lib
vtkFiltersTopology-9.1d.lib
vtkFiltersVerdict-9.1d.lib
vtkfmt-9.1d.lib
vtkfreetype-9.1d.lib
vtkGeovisCore-9.1d.lib
vtkgl2ps-9.1d.lib
vtkglew-9.1d.lib
vtkhdf5-9.1d.lib
vtkhdf5_hl-9.1d.lib
vtkImagingColor-9.1d.lib
vtkImagingCore-9.1d.lib
vtkImagingFourier-9.1d.lib
vtkImagingGeneral-9.1d.lib
vtkImagingHybrid-9.1d.lib
vtkImagingMath-9.1d.lib
vtkImagingMorphological-9.1d.lib
vtkImagingSources-9.1d.lib
vtkImagingStatistics-9.1d.lib
vtkImagingStencil-9.1d.lib
vtkInfovisCore-9.1d.lib
vtkInfovisLayout-9.1d.lib
vtkInteractionImage-9.1d.lib
vtkInteractionStyle-9.1d.lib
vtkInteractionWidgets-9.1d.lib
vtkIOAMR-9.1d.lib
vtkIOAsynchronous-9.1d.lib
vtkIOCGNSReader-9.1d.lib
vtkIOChemistry-9.1d.lib
vtkIOCityGML-9.1d.lib
vtkIOCONVERGECFD-9.1d.lib
vtkIOCore-9.1d.lib
vtkIOEnSight-9.1d.lib
vtkIOExodus-9.1d.lib
vtkIOExport-9.1d.lib
vtkIOExportGL2PS-9.1d.lib
vtkIOExportPDF-9.1d.lib
vtkIOGeometry-9.1d.lib
vtkIOHDF-9.1d.lib
vtkIOImage-9.1d.lib
vtkIOImport-9.1d.lib
vtkIOInfovis-9.1d.lib
vtkIOIOSS-9.1d.lib
vtkIOLegacy-9.1d.lib
vtkIOLSDyna-9.1d.lib
vtkIOMINC-9.1d.lib
vtkIOMotionFX-9.1d.lib
vtkIOMovie-9.1d.lib
vtkIONetCDF-9.1d.lib
vtkIOOggTheora-9.1d.lib
vtkIOParallel-9.1d.lib
vtkIOParallelXML-9.1d.lib
vtkIOPLY-9.1d.lib
vtkIOSegY-9.1d.lib
vtkIOSQL-9.1d.lib
vtkioss-9.1d.lib
vtkIOTecplotTable-9.1d.lib
vtkIOVeraOut-9.1d.lib
vtkIOVideo-9.1d.lib
vtkIOXML-9.1d.lib
vtkIOXMLParser-9.1d.lib
vtkjpeg-9.1d.lib
vtkjsoncpp-9.1d.lib
vtkkissfft-9.1d.lib
vtklibharu-9.1d.lib
vtklibproj-9.1d.lib
vtklibxml2-9.1d.lib
vtkloguru-9.1d.lib
vtklz4-9.1d.lib
vtklzma-9.1d.lib
vtkmetaio-9.1d.lib
vtknetcdf-9.1d.lib
vtkogg-9.1d.lib
vtkParallelCore-9.1d.lib
vtkParallelDIY-9.1d.lib
vtkpng-9.1d.lib
vtkpugixml-9.1d.lib
vtkRenderingAnnotation-9.1d.lib
vtkRenderingContext2D-9.1d.lib
vtkRenderingContextOpenGL2-9.1d.lib
vtkRenderingCore-9.1d.lib
vtkRenderingFreeType-9.1d.lib
vtkRenderingGL2PSOpenGL2-9.1d.lib
vtkRenderingImage-9.1d.lib
vtkRenderingLabel-9.1d.lib
vtkRenderingLOD-9.1d.lib
vtkRenderingOpenGL2-9.1d.lib
vtkRenderingSceneGraph-9.1d.lib
vtkRenderingUI-9.1d.lib
vtkRenderingVolume-9.1d.lib
vtkRenderingVolumeOpenGL2-9.1d.lib
vtkRenderingVtkJS-9.1d.lib
vtksqlite-9.1d.lib
vtksys-9.1d.lib
vtkTestingRendering-9.1d.lib
vtktheora-9.1d.lib
vtktiff-9.1d.lib
vtkverdict-9.1d.lib
vtkViewsContext2D-9.1d.lib
vtkViewsCore-9.1d.lib
vtkViewsInfovis-9.1d.lib
vtkWrappingTools-9.1d.lib
vtkzlib-9.1d.lib

所有选项中的SDL检查及符合模式：

最后，右键“PCL”，点击“保存”，这样在今后创建新项目时可以选择“添加现有属性表”，直接添加属性表，就不用重新配置了。

二、项目配置。
这里就有一些小细节需要注意，我第一次就是在调试那里没搞对，导致花了半天去找问题。
在解决方案资源管理器右击项目—属性。

调试！！！！！！！！！！！（重点）

调试：
PATH=$(PCL_ROOT)\bin;$(PCL_ROOT)\3rdParty\FLANN\bin;$(PCL_ROOT)\3rdParty\VTK\bin;$(PCL_ROOT)\Qhull\bin;$(PCL_ROOT)\3rdParty\OpenNI2\Tools;$(PATH)

语言：

所有选项SDL检查：

所有选项符合模式：

三、测试用例
参考配置PCL环境并测试

四、属性表及兔子测试源文件：
链接：https://pan.baidu.com/s/18VCMbP59rjBw1SFI95quZw
提取码：5252