VS2019安装PCL1.11.1

一、下载PCL1.11.1

PCL下载地址：PCL1.11.1

下载红色框中的两个文件

 二、安装PCL1.11.1

2.1安装 PCL-1.11.1-AllInOne-msvc2019-win64.exe

 选择安装路径，系统会自动创建PCL 1.11.1文件夹,这里我在D盘新建了一个PCL文件夹

2.2 安装完成后打开文件夹 ，运行框中的文件。选择路径(D:\PCL\PCL 1.11.1\3rdParty\OpenNI2)即可。这里我是安装完成的效果

对于一些电脑可能会出现安装OpenNI2时未弹出，默认安装在C盘的情况。此时需要到目标文件夹双击安装程序，先点击REMOVE，将原本安装到c盘的卸载掉，之后重新安装到目标文件夹下。 

2.3 全部安装完成后，将pcl-1.11.1-pdb-msvc2019-win64.zip解压后的.pdb文件拷贝到(D:\PCL\PCL 1.11.1\bin)中

2.4 设置环境变量 右击计算机——属性 ——高级系统设置—高级—环境变量——系统变量——path——编辑

依次添加

%PCL_ROOT%\3rdParty\FLANN\bin
%PCL_ROOT%\3rdParty\VTK\bin
%OPENNI2_REDIST64%
%OPENNI2_LIB64%
%OPENNI2_INCLUDE64%

 三、设置VS2019

3.1 新建空项目

 解决方案配置选择Release，解决方案平台选择x64。

 3.2 新建一个C++源文件

 3.4配置环境

3.4.1 添加新项目的属性表

3.4.2 右击新创建的属性表的属性进行修改

(1) C/C++—常规—SDL检查：否

(2) C/C++—语言—符合模式：否

(3) VC++目录—包含目录，添加7个include路径

具体添加的include路径如下：

D:\PCL\PCL 1.11.1\include\pcl-1.11
D:\PCL\PCL 1.11.1\3rdParty\Boost\include\boost-1_74
D:\PCL\PCL 1.11.1\3rdParty\Eigen\eigen3
D:\PCL\PCL 1.11.1\3rdParty\FLANN\include
D:\PCL\PCL 1.11.1\3rdParty\OpenNI2\Include
D:\PCL\PCL 1.11.1\3rdParty\Qhull\include
D:\PCL\PCL 1.11.1\3rdParty\VTK\include\vtk-8.2

(4) VC++目录—库目录，添加6个lib路径 

D:\PCL\PCL 1.11.1\lib
D:\PCL\PCL 1.11.1\3rdParty\Boost\lib
D:\PCL\PCL 1.11.1\3rdParty\FLANN\lib
D:\PCL\PCL 1.11.1\3rdParty\OpenNI2\Lib
D:\PCL\PCL 1.11.1\3rdParty\Qhull\lib
D:\PCL\PCL 1.11.1\3rdParty\VTK\lib

 (5) C/C++—预处理器—预处理器定义—添加：

BOOST_USE_WINDOWS_H
NOMINMAX
_CRT_SECURE_NO_DEPRECATE

(6) 链接器—输入—附加依赖项——添加PCL和VTK的相关lib文件。我用的Release版本。

 具体添加的附加依赖项内容如下：

Debug版本附加依赖项

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
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

 release版本附加依赖项

pcl_common.lib
pcl_features.lib
pcl_filters.lib
pcl_io.lib
pcl_io_ply.lib
pcl_kdtree.lib
pcl_keypoints.lib
pcl_ml.lib
pcl_octree.lib
pcl_outofcore.lib
pcl_people.lib
pcl_recognition.lib
pcl_registration.lib
pcl_sample_consensus.lib
pcl_search.lib
pcl_segmentation.lib
pcl_stereo.lib
pcl_surface.lib
pcl_tracking.lib
pcl_visualization.lib
vtkChartsCore-8.2.lib
vtkCommonColor-8.2.lib
vtkCommonComputationalGeometry-8.2.lib
vtkCommonCore-8.2.lib
vtkCommonDataModel-8.2.lib
vtkCommonExecutionModel-8.2.lib
vtkCommonMath-8.2.lib
vtkCommonMisc-8.2.lib
vtkCommonSystem-8.2.lib
vtkCommonTransforms-8.2.lib
vtkDICOMParser-8.2.lib
vtkDomainsChemistry-8.2.lib
vtkDomainsChemistryOpenGL2-8.2.lib
vtkdoubleconversion-8.2.lib
vtkexodusII-8.2.lib
vtkexpat-8.2.lib
vtkFiltersAMR-8.2.lib
vtkFiltersCore-8.2.lib
vtkFiltersExtraction-8.2.lib
vtkFiltersFlowPaths-8.2.lib
vtkFiltersGeneral-8.2.lib
vtkFiltersGeneric-8.2.lib
vtkFiltersGeometry-8.2.lib
vtkFiltersHybrid-8.2.lib
vtkFiltersHyperTree-8.2.lib
vtkFiltersImaging-8.2.lib
vtkFiltersModeling-8.2.lib
vtkFiltersParallel-8.2.lib
vtkFiltersParallelImaging-8.2.lib
vtkFiltersPoints-8.2.lib
vtkFiltersProgrammable-8.2.lib
vtkFiltersSelection-8.2.lib
vtkFiltersSMP-8.2.lib
vtkFiltersSources-8.2.lib
vtkFiltersStatistics-8.2.lib
vtkFiltersTexture-8.2.lib
vtkFiltersTopology-8.2.lib
vtkFiltersVerdict-8.2.lib
vtkfreetype-8.2.lib
vtkGeovisCore-8.2.lib
vtkgl2ps-8.2.lib
vtkglew-8.2.lib
vtkGUISupportMFC-8.2.lib
vtkhdf5-8.2.lib
vtkhdf5_hl-8.2.lib
vtkImagingColor-8.2.lib
vtkImagingCore-8.2.lib
vtkImagingFourier-8.2.lib
vtkImagingGeneral-8.2.lib
vtkImagingHybrid-8.2.lib
vtkImagingMath-8.2.lib
vtkImagingMorphological-8.2.lib
vtkImagingSources-8.2.lib
vtkImagingStatistics-8.2.lib
vtkImagingStencil-8.2.lib
vtkInfovisCore-8.2.lib
vtkInfovisLayout-8.2.lib
vtkInteractionImage-8.2.lib
vtkInteractionStyle-8.2.lib
vtkInteractionWidgets-8.2.lib
vtkIOAMR-8.2.lib
vtkIOAsynchronous-8.2.lib
vtkIOCityGML-8.2.lib
vtkIOCore-8.2.lib
vtkIOEnSight-8.2.lib
vtkIOExodus-8.2.lib
vtkIOExport-8.2.lib
vtkIOExportOpenGL2-8.2.lib
vtkIOExportPDF-8.2.lib
vtkIOGeometry-8.2.lib
vtkIOImage-8.2.lib
vtkIOImport-8.2.lib
vtkIOInfovis-8.2.lib
vtkIOLegacy-8.2.lib
vtkIOLSDyna-8.2.lib
vtkIOMINC-8.2.lib
vtkIOMovie-8.2.lib
vtkIONetCDF-8.2.lib
vtkIOParallel-8.2.lib
vtkIOParallelXML-8.2.lib
vtkIOPLY-8.2.lib
vtkIOSegY-8.2.lib
vtkIOSQL-8.2.lib
vtkIOTecplotTable-8.2.lib
vtkIOVeraOut-8.2.lib
vtkIOVideo-8.2.lib
vtkIOXML-8.2.lib
vtkIOXMLParser-8.2.lib
vtkjpeg-8.2.lib
vtkjsoncpp-8.2.lib
vtklibharu-8.2.lib
vtklibxml2-8.2.lib
vtklz4-8.2.lib
vtklzma-8.2.lib
vtkmetaio-8.2.lib
vtkNetCDF-8.2.lib
vtkogg-8.2.lib
vtkParallelCore-8.2.lib
vtkpng-8.2.lib
vtkproj-8.2.lib
vtkpugixml-8.2.lib
vtkRenderingAnnotation-8.2.lib
vtkRenderingContext2D-8.2.lib
vtkRenderingContextOpenGL2-8.2.lib
vtkRenderingCore-8.2.lib
vtkRenderingExternal-8.2.lib
vtkRenderingFreeType-8.2.lib
vtkRenderingGL2PSOpenGL2-8.2.lib
vtkRenderingImage-8.2.lib
vtkRenderingLabel-8.2.lib
vtkRenderingLOD-8.2.lib
vtkRenderingOpenGL2-8.2.lib
vtkRenderingVolume-8.2.lib
vtkRenderingVolumeOpenGL2-8.2.lib
vtksqlite-8.2.lib
vtksys-8.2.lib
vtktheora-8.2.lib
vtktiff-8.2.lib
vtkverdict-8.2.lib
vtkViewsContext2D-8.2.lib
vtkViewsCore-8.2.lib
vtkViewsInfovis-8.2.lib
vtkzlib-8.2.lib

 至此，安装完毕

四、测试代码

#include <iostream>
#include <vector>
#include <ctime>
#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>
#include <boost/thread/thread.hpp>
#include <pcl/visualization/pcl_visualizer.h>
using namespace std;
int
main(int argc, char** argv)
{
	srand((unsigned int)time(NULL));
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	// 创建点云数据
	cloud->width = 1000;
	cloud->height = 1;
	cloud->points.resize(cloud->width * cloud->height);
	for (size_t i = 0; i < cloud->points.size(); ++i)
	{
		cloud->points[i].x = 1024.0f * rand() / (RAND_MAX + 1.0f);
		cloud->points[i].y = 1024.0f * rand() / (RAND_MAX + 1.0f);
		cloud->points[i].z = 1024.0f * rand() / (RAND_MAX + 1.0f);
	}

	pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(0.1);
	octree.setInputCloud(cloud);
	octree.addPointsFromInputCloud();
	pcl::PointXYZ searchPoint;
	searchPoint.x = 1024.0f * rand() / (RAND_MAX + 1.0f);
	searchPoint.y = 1024.0f * rand() / (RAND_MAX + 1.0f);
	searchPoint.z = 1024.0f * rand() / (RAND_MAX + 1.0f);

	//半径内近邻搜索
	vector<int>pointIdxRadiusSearch;
	vector<float>pointRadiusSquaredDistance;
	float radius = 256.0f * rand() / (RAND_MAX + 1.0f);
	cout << "Neighbors within radius search at (" << searchPoint.x
		<< " " << searchPoint.y
		<< " " << searchPoint.z
		<< ") with radius=" << radius << endl;
	if (octree.radiusSearch(searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance) > 0)
	{
		for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i)
			cout << "    " << cloud->points[pointIdxRadiusSearch[i]].x
			<< " " << cloud->points[pointIdxRadiusSearch[i]].y
			<< " " << cloud->points[pointIdxRadiusSearch[i]].z
			<< " (squared distance: " << pointRadiusSquaredDistance[i] << ")" << endl;
	}
	// 初始化点云可视化对象
	boost::shared_ptr<pcl::visualization::PCLVisualizer>viewer(new pcl::visualization::PCLVisualizer("显示点云"));
	viewer->setBackgroundColor(0, 0, 0);  //设置背景颜色为黑色
	// 对点云着色可视化 (red).
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>target_color(cloud, 255, 0, 0);
	viewer->addPointCloud<pcl::PointXYZ>(cloud, target_color, "target cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "target cloud");

	// 等待直到可视化窗口关闭
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(1000));
	}

	return (0);
}

配置好的文件