WIN10+VS2015+PCL1.8.1环境安装

WIN10+VS2015+PCL1.8.1环境安装

1、准备工作：下载了下面两个文件

下载地址：http://unanancyowen.com/en/pcl181/

我准备的百度云链接：

安装文件： 链接：https://pan.baidu.com/s/1i69LGZr  密码：5jnt

PDB文件（解压后放在安装目录的bin下面）： 链接：https://pan.baidu.com/s/1kWWcrrx  密码：zri4

安装过程中修改了路径，此处我的路径是：D:\PCL 1.8.1 ，选择了自动生成系统变量。

安装openin的时候选择PCL安装路径下的3rdParty文件夹下面

[个人建议（此建议更于2018.5.4）：配置环境变量有许多缺陷，大家可以尝试使用cmake进行编译，只需要将所用的包在CMakelists文档中提前声明，而且易于移植至其他环境或PC上运行。可以参见：https://blog.csdn.net/uniqueyyc/article/details/80181388，查看官方文档的示例（例子linux，window通用）]

2、配置环境变量

如果安装时选择自动生成就无需修改，当然也可以自己改。

并且手动添加下图所示变量：

3、最关键的一步，非常容易出错——vs配置

也可以直接用我配置好的:http://download.csdn.net/download/uniqueyyc/10238338

但是注意文件可能出错！

首先创建一个新的项目：

然后打开配置管理器，添加新项目属性表，在这里我命名为PCL（方便以后重复的使用，重复使用时选择添加现有属性表）：

双击PCL属性表进行修改属性操作：

首先修改VC++目录下的包含目录，具体修改内容如下图：（根据自己目录修改，注意都是在Debug x64下的）

然后修改VC++目录下的库目录，具体修改内容如下图（根据自己目录修改）：

最后修改链接器——>输入——>附加依赖性

附加依赖性配置内容如下：

pcl_common_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_io_debug.lib
pcl_io_ply_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_parallel-vc140-mt-gd-1_64.lib
libboost_graph-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
vtkzlib-8.0-gd.lib
vtkViewsContext2D-8.0-gd.lib
vtkhdf5_hl-8.0-gd.lib
vtkFiltersProgrammable-8.0-gd.lib
vtkIOMovie-8.0-gd.lib
vtkexpat-8.0-gd.lib
vtkRenderingLOD-8.0-gd.lib
vtkIOPLY-8.0-gd.lib
vtkpng-8.0-gd.lib
vtkIOVideo-8.0-gd.lib
vtkRenderingImage-8.0-gd.lib
vtkFiltersVerdict-8.0-gd.lib
vtkjpeg-8.0-gd.lib
vtkInteractionImage-8.0-gd.lib
vtkverdict-8.0-gd.lib
vtkoggtheora-8.0-gd.lib
vtkImagingStatistics-8.0-gd.lib
vtkCommonSystem-8.0-gd.lib
vtkFiltersParallelImaging-8.0-gd.lib
vtkFiltersTexture-8.0-gd.lib
vtkCommonMisc-8.0-gd.lib
vtkCommonMath-8.0-gd.lib
vtkFiltersSelection-8.0-gd.lib
vtkImagingFourier-8.0-gd.lib
vtkIOXMLParser-8.0-gd.lib
vtkproj4-8.0-gd.lib
vtkalglib-8.0-gd.lib
vtktiff-8.0-gd.lib
vtksqlite-8.0-gd.lib
vtkImagingSources-8.0-gd.lib
vtkCommonTransforms-8.0-gd.lib
vtkImagingMath-8.0-gd.lib
vtkFiltersGeneric-8.0-gd.lib
vtkexoIIc-8.0-gd.lib
vtkfreetype-8.0-gd.lib
vtkImagingColor-8.0-gd.lib
vtknetcdf_c++-gd.lib
vtkNetCDF-8.0-gd.lib
vtkFiltersImaging-8.0-gd.lib
vtkFiltersHyperTree-8.0-gd.lib
vtkImagingMorphological-8.0-gd.lib
vtkImagingStencil-8.0-gd.lib
vtkRenderingFreeType-8.0-gd.lib
vtkCommonColor-8.0-gd.lib
vtkjsoncpp-8.0-gd.lib
vtkRenderingContext2D-8.0-gd.lib
vtkFiltersAMR-8.0-gd.lib
vtkRenderingContextOpenGL-8.0-gd.lib
vtkIOParallelXML-8.0-gd.lib
vtkViewsCore-8.0-gd.lib
vtkImagingHybrid-8.0-gd.lib
vtkIOExport-8.0-gd.lib
vtkRenderingVolumeOpenGL-8.0-gd.lib
vtkIOImport-8.0-gd.lib
vtkDomainsChemistry-8.0-gd.lib
vtkInteractionStyle-8.0-gd.lib
vtkCommonComputationalGeometry-8.0-gd.lib
vtkDICOMParser-8.0-gd.lib
vtklibxml2-8.0-gd.lib
vtkIOMINC-8.0-gd.lib
vtkIOSQL-8.0-gd.lib
vtkFiltersModeling-8.0-gd.lib
vtkParallelCore-8.0-gd.lib
vtkIOAMR-8.0-gd.lib
vtkGeovisCore-8.0-gd.lib
vtksys-8.0-gd.lib
vtkIOEnSight-8.0-gd.lib
vtkImagingGeneral-8.0-gd.lib
vtkFiltersFlowPaths-8.0-gd.lib
vtkIOLSDyna-8.0-gd.lib
vtkFiltersSMP-8.0-gd.lib
vtkIOParallel-8.0-gd.lib
vtkFiltersGeometry-8.0-gd.lib
vtkInfovisLayout-8.0-gd.lib
vtkIOCore-8.0-gd.lib
vtkFiltersSources-8.0-gd.lib
vtkIOLegacy-8.0-gd.lib
vtkFiltersHybrid-8.0-gd.lib
vtkIONetCDF-8.0-gd.lib
vtkFiltersExtraction-8.0-gd.lib
vtkFiltersParallel-8.0-gd.lib
vtkRenderingLabel-8.0-gd.lib
vtkIOInfovis-8.0-gd.lib
vtkRenderingAnnotation-8.0-gd.lib
vtkImagingCore-8.0-gd.lib
vtkCommonExecutionModel-8.0-gd.lib
vtkhdf5-8.0-gd.lib
vtkViewsInfovis-8.0-gd.lib
vtkIOGeometry-8.0-gd.lib
vtkmetaio-8.0-gd.lib
vtkIOImage-8.0-gd.lib
vtkIOXML-8.0-gd.lib
vtkIOExodus-8.0-gd.lib
vtkRenderingVolume-8.0-gd.lib
vtkChartsCore-8.0-gd.lib
vtkFiltersStatistics-8.0-gd.lib
vtkInfovisCore-8.0-gd.lib
vtkRenderingCore-8.0-gd.lib
vtkInteractionWidgets-8.0-gd.lib
vtkRenderingOpenGL-8.0-gd.lib
vtkFiltersGeneral-8.0-gd.lib
vtkFiltersCore-8.0-gd.lib
vtkCommonDataModel-8.0-gd.lib
vtkCommonCore-8.0-gd.lib
flann_cpp_s-gd.lib
qhullstatic_d.lib
OpenNI2.lib

至此配置完毕，用网上例子检测运行。

参见：http://blog.csdn.net/qq_34784753/article/details/77484414  

#include <iostream>  
#include <pcl/io/pcd_io.h>  
#include <pcl/point_types.h>  
#include <pcl/ModelCoefficients.h>  
#include <pcl/filters/project_inliers.h>  
  
int main(int argc, char** argv)  
{  
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);  
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);  
  
    // Fill in the cloud data  
    cloud->width = 5;  
    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 * rand() / (RAND_MAX + 1.0f);  
        cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);  
        cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);  
    }  
  
    std::cerr << "Cloud before projection: " << std::endl;  
    for (size_t i = 0; i < cloud->points.size(); ++i)  
        std::cerr << "    " << cloud->points[i].x << " "  
        << cloud->points[i].y << " "  
        << cloud->points[i].z << std::endl;  
  
    // Create a set of planar coefficients with X=Y=0,Z=1  
    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());  
    coefficients->values.resize(4);  
    coefficients->values[0] = coefficients->values[1] = 0;  
    coefficients->values[2] = 1.0;  
    coefficients->values[3] = 0;  
  
    // Create the filtering object  
    pcl::ProjectInliers<pcl::PointXYZ> proj;  
    proj.setModelType(pcl::SACMODEL_PLANE);  
    proj.setInputCloud(cloud);  
    proj.setModelCoefficients(coefficients);  
    proj.filter(*cloud_projected);  
  
    std::cerr << "Cloud after projection: " << std::endl;  
    for (size_t i = 0; i < cloud_projected->points.size(); ++i)  
        std::cerr << "    " << cloud_projected->points[i].x << " "  
        << cloud_projected->points[i].y << " "  
        << cloud_projected->points[i].z << std::endl;  
  
    system("pause");  
    return (0);  
}  

结果如下：

希望对大家有帮助！

参考了很多的博客

http://blog.csdn.net/enigma_tong/article/details/58128983

http://blog.csdn.net/ldepn/article/details/75095283

http://blog.csdn.net/u014283958/article/details/52599457

http://blog.csdn.net/u011197534/article/details/52960394

如果出现warningC4819，把报这个错误的文件找出来，事实上谁编译出问题，双击就能到这个文件。我因为是之前做了注释，所以很容易能定位到这个文件，然后点选文件高级保存选项->编码改成gb2312,参见：https://www.cnblogs.com/letben/p/5548938.html

为了避免每次都要做同样的事情，可以把文档修改编码后保存覆盖掉以前的版本。