vs2015(或2017) + pcl 1.8.0 配置

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一、下载相关文件

1.下载PCL-1.8.0-AllInOne-msvc2015-win64.exe、属性表和PDB和测试pcd文件rabbit.pcd，其中，属性表可以不下载。

百度云链接：https://pan.baidu.com/s/1zAZIjNjZst5gCfnrONJ_GQ

二、Windows下安装步骤：

1.点击PCL-1.8.0-AllInOne-msvc2015-win64.exe一键安装，可以默认也可以自己选择安装路径，如本文所选择的路径为默认安装路径C:\Program Files；

2.在安装过程中，OpenNI2在安装时会弹出界面，选择目录C:\Program Files\PCL 1.8.0\3rdParty\OpenNI2；

3.等待一段时间，则安装完成。

注意事项：在安装点击“我接收(I)”之后弹出来的对话框中一定要选择第二项AddPCL to the system PATH for all users

 三、系统配置步骤

 

1.点击win7的控制面板->系统->高级系统设置->在系统属性的“高级选项”卡下点击“环境变量”；

2.在系统子菜单里面找到“Path”，如图：

3.点击编辑，添加如下：

 C:\Program Files\PCL 1.8.0\bin

C:\Program Files\PCL 1.8.0\3rdParty\FLANN\bin

C:\Program Files\PCL 1.8.0\3rdParty\Qhull\bin

C:\Program Files\PCL 1.8.0\3rdParty\OpenNI2\Tools

C:\Program Files\PCL 1.8.0\3rdParty\VTK\bin

四、vs2015(2017)工程配置步骤

 打开VS2015，创建新的win32控制台工程，建好后将平台改成X64，Release；点击项目菜单的属性；作如下操作：

1.vc++目录
  包含目录
C:\Program Files\PCL 1.8.0\include
C:\Program Files\PCL 1.8.0\3rdParty\Boost\include
C:\Program Files\PCL 1.8.0\3rdParty\Eigen\eigen3
C:\Program Files\PCL 1.8.0\3rdParty\FLANN\include
C:\Program Files\PCL 1.8.0\3rdParty\Qhull\include
C:\Program Files\PCL 1.8.0\3rdParty\VTK\include\vtk-7.0
C:\Program Files\PCL 1.8.0\3rdParty\OpenNI2\Include
C:\Program Files\PCL 1.8.0\3rdParty\Boost\include\boost-1_61

  库目录
C:\Program Files\PCL 1.8.0\3rdParty\Boost\include\boost-1_61
C:\Program Files\PCL 1.8.0\3rdParty\FLANN\bin
C:\Program Files\PCL 1.8.0\3rdParty\Boost\lib
C:\Program Files\PCL 1.8.0\3rdParty\VTK\lib
C:\Program Files\PCL 1.8.0\3rdParty\Qhull\lib
C:\Program Files\PCL 1.8.0\3rdParty\OpenNI2\Lib
C:\Program Files\PCL 1.8.0\lib

2.连接器->输入->附加依赖项：

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_61.lib

libboost_chrono-vc140-mt-1_61.lib

libboost_container-vc140-mt-1_61.lib

libboost_context-vc140-mt-1_61.lib

libboost_coroutine-vc140-mt-1_61.lib

libboost_date_time-vc140-mt-1_61.lib

libboost_exception-vc140-mt-1_61.lib

libboost_filesystem-vc140-mt-1_61.lib

libboost_graph-vc140-mt-1_61.lib

libboost_iostreams-vc140-mt-1_61.lib

libboost_locale-vc140-mt-1_61.lib

libboost_log-vc140-mt-1_61.lib

libboost_log_setup-vc140-mt-1_61.lib

libboost_math_c99-vc140-mt-1_61.lib

libboost_math_c99f-vc140-mt-1_61.lib

libboost_math_c99l-vc140-mt-1_61.lib

libboost_math_tr1-vc140-mt-1_61.lib

libboost_math_tr1f-vc140-mt-1_61.lib

libboost_math_tr1l-vc140-mt-1_61.lib

libboost_mpi-vc140-mt-1_61.lib

libboost_prg_exec_monitor-vc140-mt-1_61.lib

libboost_program_options-vc140-mt-1_61.lib

libboost_random-vc140-mt-1_61.lib

libboost_regex-vc140-mt-1_61.lib

libboost_serialization-vc140-mt-1_61.lib

libboost_signals-vc140-mt-1_61.lib

libboost_system-vc140-mt-1_61.lib

libboost_test_exec_monitor-vc140-mt-1_61.lib

libboost_thread-vc140-mt-1_61.lib

libboost_timer-vc140-mt-1_61.lib

libboost_unit_test_framework-vc140-mt-1_61.lib

libboost_wave-vc140-mt-1_61.lib

libboost_wserialization-vc140-mt-1_61.lib

flann.lib

flann_s.lib

flann-gd.lib

flann_cpp_s.lib

flann_cpp_s-gd.lib

flann_s-gd.lib

qhull.lib

qhull_d.lib

qhullcpp_d.lib

qhullstatic.lib

qhullstatic_d.lib

qhullstatic_r.lib

qhullstatic_r_d.lib

qhull_p.lib

qhull_p_d.lib

qhull_r.lib

qhull_r_d.lib

vtkalglib-7.0.lib

vtkChartsCore-7.0.lib

vtkCommonColor-7.0.lib

vtkCommonComputationalGeometry-7.0.lib

vtkCommonCore-7.0.lib

vtkCommonDataModel-7.0.lib

vtkCommonExecutionModel-7.0.lib

vtkCommonMath-7.0.lib

vtkCommonMisc-7.0.lib

vtkCommonSystem-7.0.lib

vtkCommonTransforms-7.0.lib

vtkDICOMParser-7.0.lib

vtkDomainsChemistry-7.0.lib

vtkexoIIc-7.0.lib

vtkexpat-7.0.lib

vtkFiltersAMR-7.0.lib

vtkFiltersCore-7.0.lib

vtkFiltersExtraction-7.0.lib

vtkFiltersFlowPaths-7.0.lib

vtkFiltersGeneral-7.0.lib

vtkFiltersGeneric-7.0.lib

vtkFiltersGeometry-7.0.lib

vtkFiltersHybrid-7.0.lib

vtkFiltersHyperTree-7.0.lib

vtkFiltersImaging-7.0.lib

vtkFiltersModeling-7.0.lib

vtkFiltersParallel-7.0.lib

vtkFiltersParallelImaging-7.0.lib

vtkFiltersProgrammable-7.0.lib

vtkFiltersSelection-7.0.lib

vtkFiltersSMP-7.0.lib

vtkFiltersSources-7.0.lib

vtkFiltersStatistics-7.0.lib

vtkFiltersTexture-7.0.lib

vtkFiltersVerdict-7.0.lib

vtkfreetype-7.0.lib

vtkGeovisCore-7.0.lib

vtkhdf5-7.0.lib

vtkhdf5_hl-7.0.lib

vtkImagingColor-7.0.lib

vtkImagingCore-7.0.lib

vtkImagingFourier-7.0.lib

vtkImagingGeneral-7.0.lib

vtkImagingHybrid-7.0.lib

vtkImagingMath-7.0.lib

vtkImagingMorphological-7.0.lib

vtkImagingSources-7.0.lib

vtkImagingStatistics-7.0.lib

vtkImagingStencil-7.0.lib

vtkInfovisCore-7.0.lib

vtkInfovisLayout-7.0.lib

vtkInteractionImage-7.0.lib

vtkInteractionStyle-7.0.lib

vtkInteractionWidgets-7.0.lib

vtkIOAMR-7.0.lib

vtkIOCore-7.0.lib

vtkIOEnSight-7.0.lib

vtkIOExodus-7.0.lib

vtkIOExport-7.0.lib

vtkIOGeometry-7.0.lib

vtkIOImage-7.0.lib

vtkIOImport-7.0.lib

vtkIOInfovis-7.0.lib

vtkIOLegacy-7.0.lib

vtkIOLSDyna-7.0.lib

vtkIOMINC-7.0.lib

vtkIOMovie-7.0.lib

vtkIONetCDF-7.0.lib

vtkIOParallel-7.0.lib

vtkIOParallelXML-7.0.lib

vtkIOPLY-7.0.lib

vtkIOSQL-7.0.lib

vtkIOVideo-7.0.lib

vtkIOXML-7.0.lib

vtkIOXMLParser-7.0.lib

vtkjpeg-7.0.lib

vtkjsoncpp-7.0.lib

vtklibxml2-7.0.lib

vtkmetaio-7.0.lib

vtkNetCDF-7.0.lib

vtkNetCDF_cxx-7.0.lib

vtkoggtheora-7.0.lib

vtkParallelCore-7.0.lib

vtkpng-7.0.lib

vtkproj4-7.0.lib

vtkRenderingAnnotation-7.0.lib

vtkRenderingContext2D-7.0.lib

vtkRenderingContextOpenGL-7.0.lib

vtkRenderingCore-7.0.lib

vtkRenderingFreeType-7.0.lib

vtkRenderingImage-7.0.lib

vtkRenderingLabel-7.0.lib

vtkRenderingLOD-7.0.lib

vtkRenderingOpenGL-7.0.lib

vtkRenderingVolume-7.0.lib

vtkRenderingVolumeOpenGL-7.0.lib

vtksqlite-7.0.lib

vtksys-7.0.lib

vtktiff-7.0.lib

vtkverdict-7.0.lib

vtkViewsContext2D-7.0.lib

vtkViewsCore-7.0.lib

vtkViewsInfovis-7.0.lib

vtkzlib-7.0.lib

3.配置属性下的调试，右边有个环境项
PATH=$(PCL_ROOT)bin;$(PCL_ROOT)3rdPartyFLANNbin;$(PCL_ROOT)3rdPartyVTKbin;$(PCL_ROOT)Qhullbin;$(PCL_ROOT)3rdPartyOpenNI2Tools;$(PATH)

4.配置属性下的CC++，点击它的子项预处理器，右边有个预处理器定义
_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS

5.配置属性下的CC++,常规
C:\Program Files\PCL 1.8.0\3rdParty\Boost\include\boost-1_61
6.找到属性管理器。

如果安装的是32位，点击选中开头为Debug的子项里右键，点击添加现有属性表，然后找到你下载的文件夹里的PCLDebug.props，添加上。点击选中开头为Release的子项里右键，点击添加现有属性表，然后找到你下载的文件夹里的PCLRelease.props，添加上。
如果安装的是64位，点击选中开头为Debug的子项里右键，点击添加现有属性表，然后找到你下载的文件夹里的PCLDebug.props，添加上。点击选中开头为Release的子项里右键，点击添加现有属性表，然后找到你下载的文件夹里的PCLRelease.props，添加上。
注意在这里，64位的会有2个开头为Debug的子项，都要添加上PCLDebug.props，并且2个开头为Release的子项，也要添加上PCLRelease.props。

五、测试是否安装成功

 

 
 

   
   

    
    

   
   
   
   

    
    

     
     #include<pcl/visualization/cloud_viewer.h>
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
     #include<iostream>//标准C++库中的输入输出类相关头文件。
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
     #include<pcl/io/io.h>
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
     #include<pcl/io/pcd_io.h>//pcd 读写类相关的头文件。
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
     #include<pcl/io/ply_io.h>
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
     #include<pcl/point_types.h> //PCL中支持的点类型头文件。
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
     int user_data;
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
     using 
     
     std::
     
     cout;
    
    
   
   

   
   

    
    

   
   
   
   

    
    
 
    
    
   
   

   
   

    
    

   
   
   
   

    
    
 
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
     void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) {
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
         viewer.setBackgroundColor(
     
     1.0, 
     
     0.5, 
     
     1.0);   
     
     //设置背景颜色
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
     }
    
    
   
   

   
   

    
    

   
   
   
   

    
    
 
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
     int main() {
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
         pcl::PointCloud<pcl::PointXYZ>::
     
     Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    
    
   
   

   
   

    
    

   
   
   
   

    
    
 
    
    
   
   

   
   

    
    

   
   
   
   

    
    
    
     
     char strfilepath[
     
     256] = 
     
     "rabbit.pcd";
    
    
   
   

   
   

    
    

   
   
   
   

    
    
    
     
     if (
     
     -1 == pcl::io::loadPCDFile(strfilepath, *cloud)) {
    
    
   
   

   
   

    
    

   
   
   
   

    
    
        
     
     cout << 
     
     "error input!" << 
     
     endl;
    
    
   
   

   
   

    
    

   
   
   
   

    
    
        
     
     return 
     
     -1;
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
         }
    
    
   
   

   
   

    
    

   
   
   
   

    
    
 
    
    
   
   

   
   

    
    

   
   
   
   

    
    
    
     
     cout << cloud->points.size() << 
     
     endl;
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
         pcl::visualization::
     
     CloudViewer viewer("Cloud Viewer");     
     
     //创建viewer对象
    
    
   
   

   
   

    
    

   
   
   
   

    
    
 
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
         viewer.showCloud(cloud);
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
         viewer.runOnVisualizationThreadOnce(viewerOneOff);
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
         system(
     
     "pause");
    
    
   
   

   
   

    
    

   
   
   
   

    
    
    
     
     return 
     
     0;
    
    
   
   

   
   

    
    

   
   
   
   

    
    

     
     }
    
    
   
   
 
 

效果图：