PCL1.8.1 + VS 2017 + win 10点云环境配置及部分问题解决方法

环境搭建

首先下载文件，两个都要下
PCL-1.8.1-AllInOne-msvc2017-win64.exe
pcl-1.8.1-pdb-msvc2017-win64.zip
看了一些教程，都没有配好，后来在B站发现了一个良心UP主，最终是按照他的视频配置的环境。``
首先放两个文本，直接复制分别放入两个txt即可，看完视频就知道怎么用了，省得一会儿再找。

配置文件

系统变量：
%PCL_ROOT%\bin
%PCL_ROOT%\3rdParty\VTK\bin
%PCL_ROOT%\3rdParty\FLANN\bin
%OPENNI2_REDIST64%
%PCL_ROOT%\3rdParty\Qhull\bin
%PCL_ROOT%\3rdParty\OpenNI2\Tools

VS：
1.属性->VC++目录->包含目录和源目录
    $(PCL_ROOT)\include\pcl-1.8;$(PCL_ROOT)\3rdParty\Boost\include\boost-1_64;$(PCL_ROOT)\3rdParty\Eigen\eigen3;$(PCL_ROOT)\3rdParty\FLANN\include;$(PCL_ROOT)\3rdParty\Qhull\include;$(PCL_ROOT)\3rdParty\VTK\include\vtk-8.0;$(PCL_ROOT)\3rdParty\OpenNI2\Include;
2. 属性->VC++目录->库目录
	$(PCL_ROOT)\lib;$(PCL_ROOT)\3rdParty\Boost\lib;$(PCL_ROOT)\3rdParty\FLANN\lib;$(PCL_ROOT)\3rdParty\Qhull\lib;$(PCL_ROOT)\3rdParty\VTK\lib;$(PCL_ROOT)\3rdParty\OpenNI2\lib;
3. 属性->调试->环境
    PATH=$(PCL_ROOT)\bin;$(PCL_ROOT)\3rdParty\FLANN\bin;$(PCL_ROOT)\3rdParty\VTK\bin;$(PCL_ROOT)\3rdParty\OpenNI2\Tools
4. 属性->C/C++->预处理器->预处理器定义
    _SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;
5. 属性->链接器->输入->附加依赖项（DEBUG）
vtknetcdf_c++-gd.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-vc141-mt-gd-1_64.lib
libboost_bzip2-vc141-mt-gd-1_64.lib
libboost_chrono-vc141-mt-gd-1_64.lib
libboost_container-vc141-mt-gd-1_64.lib
libboost_context-vc141-mt-gd-1_64.lib
libboost_coroutine-vc141-mt-gd-1_64.lib
libboost_date_time-vc141-mt-gd-1_64.lib
libboost_exception-vc141-mt-gd-1_64.lib
libboost_fiber-vc141-mt-gd-1_64.lib
libboost_filesystem-vc141-mt-gd-1_64.lib
libboost_graph-vc141-mt-gd-1_64.lib
libboost_graph_parallel-vc141-mt-gd-1_64.lib
libboost_iostreams-vc141-mt-gd-1_64.lib
libboost_locale-vc141-mt-gd-1_64.lib
libboost_log-vc141-mt-gd-1_64.lib
libboost_log_setup-vc141-mt-gd-1_64.lib
libboost_math_c99-vc141-mt-gd-1_64.lib
libboost_math_c99f-vc141-mt-gd-1_64.lib
libboost_math_c99l-vc141-mt-gd-1_64.lib
libboost_math_tr1-vc141-mt-gd-1_64.lib
libboost_math_tr1f-vc141-mt-gd-1_64.lib
libboost_math_tr1l-vc141-mt-gd-1_64.lib
libboost_mpi-vc141-mt-gd-1_64.lib
libboost_numpy3-vc141-mt-gd-1_64.lib
libboost_numpy-vc141-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib
libboost_program_options-vc141-mt-gd-1_64.lib
libboost_python3-vc141-mt-gd-1_64.lib
libboost_python-vc141-mt-gd-1_64.lib
libboost_random-vc141-mt-gd-1_64.lib
libboost_regex-vc141-mt-gd-1_64.lib
libboost_serialization-vc141-mt-gd-1_64.lib
libboost_signals-vc141-mt-gd-1_64.lib
libboost_system-vc141-mt-gd-1_64.lib
libboost_test_exec_monitor-vc141-mt-gd-1_64.lib
libboost_thread-vc141-mt-gd-1_64.lib
libboost_timer-vc141-mt-gd-1_64.lib
libboost_type_erasure-vc141-mt-gd-1_64.lib
libboost_unit_test_framework-vc141-mt-gd-1_64.lib
libboost_wave-vc141-mt-gd-1_64.lib
libboost_wserialization-vc141-mt-gd-1_64.lib
libboost_zlib-vc141-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
vtkalglib-8.0-gd.lib
vtkChartsCore-8.0-gd.lib
vtkCommonColor-8.0-gd.lib
vtkCommonComputationalGeometry-8.0-gd.lib
vtkCommonCore-8.0-gd.lib
vtkCommonDataModel-8.0-gd.lib
vtkCommonExecutionModel-8.0-gd.lib
vtkCommonMath-8.0-gd.lib
vtkCommonMisc-8.0-gd.lib
vtkCommonSystem-8.0-gd.lib
vtkCommonTransforms-8.0-gd.lib
vtkDICOMParser-8.0-gd.lib
vtkDomainsChemistry-8.0-gd.lib
vtkexoIIc-8.0-gd.lib
vtkexpat-8.0-gd.lib
vtkFiltersAMR-8.0-gd.lib
vtkFiltersCore-8.0-gd.lib
vtkFiltersExtraction-8.0-gd.lib
vtkFiltersFlowPaths-8.0-gd.lib
vtkFiltersGeneral-8.0-gd.lib
vtkFiltersGeneric-8.0-gd.lib
vtkFiltersGeometry-8.0-gd.lib
vtkFiltersHybrid-8.0-gd.lib
vtkFiltersHyperTree-8.0-gd.lib
vtkFiltersImaging-8.0-gd.lib
vtkFiltersModeling-8.0-gd.lib
vtkFiltersParallel-8.0-gd.lib
vtkFiltersParallelImaging-8.0-gd.lib
vtkFiltersPoints-8.0-gd.lib
vtkFiltersProgrammable-8.0-gd.lib
vtkFiltersSelection-8.0-gd.lib
vtkFiltersSMP-8.0-gd.lib
vtkFiltersSources-8.0-gd.lib
vtkFiltersStatistics-8.0-gd.lib
vtkFiltersTexture-8.0-gd.lib
vtkFiltersTopology-8.0-gd.lib
vtkFiltersVerdict-8.0-gd.lib
vtkfreetype-8.0-gd.lib
vtkGeovisCore-8.0-gd.lib
vtkgl2ps-8.0-gd.lib
vtkhdf5-8.0-gd.lib
vtkhdf5_hl-8.0-gd.lib
vtkImagingColor-8.0-gd.lib
vtkImagingCore-8.0-gd.lib
vtkImagingFourier-8.0-gd.lib
vtkImagingGeneral-8.0-gd.lib
vtkImagingHybrid-8.0-gd.lib
vtkImagingMath-8.0-gd.lib
vtkImagingMorphological-8.0-gd.lib
vtkImagingSources-8.0-gd.lib
vtkImagingStatistics-8.0-gd.lib
vtkImagingStencil-8.0-gd.lib
vtkInfovisCore-8.0-gd.lib
vtkInfovisLayout-8.0-gd.lib
vtkInteractionImage-8.0-gd.lib
vtkInteractionStyle-8.0-gd.lib
vtkInteractionWidgets-8.0-gd.lib
vtkIOAMR-8.0-gd.lib
vtkIOCore-8.0-gd.lib
vtkIOEnSight-8.0-gd.lib
vtkIOExodus-8.0-gd.lib
vtkIOExport-8.0-gd.lib
vtkIOExportOpenGL-8.0-gd.lib
vtkIOGeometry-8.0-gd.lib
vtkIOImage-8.0-gd.lib
vtkIOImport-8.0-gd.lib
vtkIOInfovis-8.0-gd.lib
vtkIOLegacy-8.0-gd.lib
vtkIOLSDyna-8.0-gd.lib
vtkIOMINC-8.0-gd.lib
vtkIOMovie-8.0-gd.lib
vtkIONetCDF-8.0-gd.lib
vtkIOParallel-8.0-gd.lib
vtkIOParallelXML-8.0-gd.lib
vtkIOPLY-8.0-gd.lib
vtkIOSQL-8.0-gd.lib
vtkIOTecplotTable-8.0-gd.lib
vtkIOVideo-8.0-gd.lib
vtkIOXML-8.0-gd.lib
vtkIOXMLParser-8.0-gd.lib
vtkjpeg-8.0-gd.lib
vtkjsoncpp-8.0-gd.lib
vtklibharu-8.0-gd.lib
vtklibxml2-8.0-gd.lib
vtklz4-8.0-gd.lib
vtkmetaio-8.0-gd.lib
vtkNetCDF-8.0-gd.lib
vtkoggtheora-8.0-gd.lib
vtkParallelCore-8.0-gd.lib
vtkpng-8.0-gd.lib
vtkproj4-8.0-gd.lib
vtkRenderingAnnotation-8.0-gd.lib
vtkRenderingContext2D-8.0-gd.lib
vtkRenderingContextOpenGL-8.0-gd.lib
vtkRenderingCore-8.0-gd.lib
vtkRenderingFreeType-8.0-gd.lib
vtkRenderingGL2PS-8.0-gd.lib
vtkRenderingImage-8.0-gd.lib
vtkRenderingLabel-8.0-gd.lib
vtkRenderingLIC-8.0-gd.lib
vtkRenderingLOD-8.0-gd.lib
vtkRenderingOpenGL-8.0-gd.lib
vtkRenderingVolume-8.0-gd.lib
vtkRenderingVolumeOpenGL-8.0-gd.lib
vtksqlite-8.0-gd.lib
vtksys-8.0-gd.lib
vtktiff-8.0-gd.lib
vtkverdict-8.0-gd.lib
vtkViewsContext2D-8.0-gd.lib
vtkViewsCore-8.0-gd.lib
vtkViewsInfovis-8.0-gd.lib
vtkzlib-8.0-gd.lib
opengl32.lib

环境测试文件

#include <iostream>
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>

int
main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);

	// Fill in the cloud data
	cloud->width = 5;
	cloud->height = 1;
	cloud->points.resize(cloud->width * cloud->height);

	for (std::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 filtering: " << std::endl;
	for (std::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 the filtering object
	pcl::PassThrough<pcl::PointXYZ> pass;
	pass.setInputCloud(cloud);
	pass.setFilterFieldName("z");
	pass.setFilterLimits(0.0, 1.0);
	//pass.setFilterLimitsNegative (true);
	pass.filter(*cloud_filtered);

	std::cerr << "Cloud after filtering: " << std::endl;
	for (std::size_t i = 0; i < cloud_filtered->points.size(); ++i)
		std::cerr << "    " << cloud_filtered->points[i].x << " "
		<< cloud_filtered->points[i].y << " "
		<< cloud_filtered->points[i].z << std::endl;

	return (0);
}

视频教程

【教程】手把手教你如何在win10配置PCL点云库

部分问题解决方法

如果看完up的视频，用的是上方的环境测试文件，测试还不成功的话，那我也没办法了，尝试再看一遍仔细检查一下，完全按照up的步骤来最后应该是没问题的。如果测试文件成功运行，你也许会想做个txt，ply，pcd文件格式转换之类的操作，那么很可能会遇到下面的问题（一般头文件引入pcl/io/…都会遇到这个问题）。

positioning.hpp文件seekpos报错

问题描述

错误	C4996	'std::fpos<_Mbstatet>::seekpos': warning STL4019: The member
 std::fpos::seekpos() is non-Standard, and is preserved only for compatibility with 
 workarounds for old versions of Visual C++.
 It will be removed in a future release, and in this release always returns 0. Please use
  standards-conforming mechanisms to manipulate fpos, such as conversions to and 
  from streamoff, or an integral type, instead.
  If you are receiving this message while compiling Boost.IOStreams, a fix has been 
  submitted upstream to make Boost use standards-conforming mechanisms, as it 
  does for other compilers. You can define _SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING to acknowledge that you 
  have received this warning, or define _REMOVE_FPOS_SEEKPOS to remove 
  std::fpos::seekpos entirely.	
  PCLTest	c:\program files\pcl 1.8.1\3rdparty\boost\include\boost-1_64\boost\iostreams\positioning.hpp	96	

解决方法

我们可以看到发生错误的文件是
PCLTest c:\program files\pcl 1.8.1\3rdparty\boost\include\boost-1_64\boost\iostreams\positioning.hpp 96
于是我们打开该文件，并且把包含seekpos()的第96行注释掉。（别问我为什么，我也8知道，百度到的，注释掉之后就不报错了）
补充一个靠谱的方法： 鼠标右键资源管理器的项目->属性->c/c++ ->预处理器->预处理器定义添加一项_SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING

找不到openNI2.dll文件

问题描述

刚解决完上面的问题之后，继续运行你也许还好遇到下面的问题。

这个问题就尼玛的离谱。环境变量配好了，而且在C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Tools文件夹下清清楚楚的放着openNI2.dll。

解决方法

复制openNI2.dll到工程目录下，就是跟cpp源文件放到一起。

然后到此ply转pcd的程序就可以正常运行了

附上ply转pcd的源码（记得改读入和输出的文件名）

#include <iostream>
#include <pcl/common/io.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/PolygonMesh.h>
#include <vtkSmartPointer.h>
#include <vtkPolyData.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/vtk_lib_io.h>

using namespace std;

int main()
{
	//加载ply格式文件
	pcl::PolygonMesh mesh;
	pcl::io::loadPolygonFilePLY("xxx.ply", mesh);


	vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();

	//创建一个新的点云对象
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());

	//转换
	pcl::io::mesh2vtk(mesh, polydata);
	pcl::io::vtkPolyDataToPointCloud(polydata, *cloud);
	pcl::io::savePCDFileASCII("xxx.pcd", *cloud);
	return 0;
}

txt转pcd时程序卡死

txt转pcd源码

#include<iostream>
#include<fstream>
#include <string>
#include <vector>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

using namespace std;


int main()
{
    fstream modelRead;
    pcl::PointCloud<pcl::PointXYZ> cloud;
    pcl::PCDWriter writer;

    modelRead.open("xxx.txt",std::ios_base::in);
    pcl::PointXYZ pclPnt;
    while(!modelRead.eof())
    {
        modelRead>>pclPnt.x>>pclPnt.y>>pclPnt.z;
        cloud.push_back(pclPnt);
    }
    modelRead.close();
    writer.write("xxx.pcd",cloud);
    return 0;
}

问题描述

开始运行这段程序我就去厕所了，过了反正挺久的，我便秘都结束了，回来发现这程序还在跑。没有任何报错，只是在那里一个黑框p都不显示。然后我又重新运行还是不行，找了其他txt转pcd的代码放进去也会发生同样的问题（一般到这时候就开始小嘴抹蜜了）。

解决方法

我也不会。
但是如果你像我一样，感觉ply不好处理，想要处理txt文档然后再把txt转成pcd的话，我发现一个迂回的方法。就是用文本编辑器打开ply文件（当然前提是这个ply文件是ASCII码格式的，而不是二进制），直接复制出来点坐标的那部分，处理后再放进去。因为简单的ply文件vertex元素坐标和face元素没有紧密的联系。关于ply格式的介绍可以参考这篇文章PLY格式介绍。

pop_t找不到标识符

解决方法

PCL 1.8.1\3rdParty\FLANN\include\flann\algorithms\dist.h
503行 typedef unsigned long long pop_t;
移动到480行#if __GNUC__上面