win10下VS2019+PCL1.12.0的安装与使用

介绍

昨晚配了很久的pcl环境，踩了很多坑，最终终于成功实现。想着以前经常参考别人的文章，那我也写一点东西记录一下，希望对后人能有所帮助

PS：更新于2021.12.15，因为某些原因环境掉了，重装了一遍PCL，踩了个大坑，就是pcl最好装在C盘，至少我是因为装在D盘导致出现找不到pcl_common_debug.dll等一系列文件的问题，我反反复复查了一遍又一遍环境，重装了好几次还是不行，最后我装到C盘的某个文件夹下……它就这么可以了- -
PPS：出现找不到pcl_common_debug.dll等可以先试试在path环境变量里添加（你自己的以下两个PCL文件路径）
C:\Program Files\Algorithm environment\PCL_1.12.0\bin
C:\Program Files\Algorithm environment\PCL_1.12.0\3rdParty\VTK\bin

前人栽树

vs2019安装和使用教程（详细）
https://blog.csdn.net/qq_36556893/article/details/88603729
PCL安装与配置的教程可以参考下面这个，这篇写的很好不过是PCL1.8.1版本的
https://blog.csdn.net/syz201558503103/article/details/103892364

VC++安装目录

路径仅供参考，大家选择自己的安装路径即可

C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\OpenNI2\Include
C:\Program Files (x86)\1Program\PCL_1.12.0\include\pcl-1.12
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\VTK\include\vtk-9.0
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\Qhull\include
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\FLANN\include
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\Eigen\eigen3
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\Boost\include\boost-1_76

库目录

路径仅供参考，大家选择自己的安装路径即可

C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\OpenNI2\Lib
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\VTK\lib
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\Qhull\lib
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\FLANN\lib
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\Boost\lib
C:\Program Files (x86)\1Program\PCL_1.12.0\lib

主要是导入库链接较为费时

可以根据自己的PCL版本自行导入，我们可以使用以下方法将debug和release的lib文件分开存放起来：

1. win+r调出“运行”窗口并输出cmd
2. 输入：cd /d C:\Program Files (x86)\*******  回车 （进入到的文件根据自己的路径来写）
		（以放debug版的lib文件夹为例）
4. 输出：dir /b *.lib>1.txt （改不同的后缀即可）
5. 在文件夹下可看见一个txt，打开即可复制。

下面为 debug链接器的依赖，仅供参考

pcl_commond.lib
pcl_featuresd.lib
pcl_filtersd.lib
pcl_io_plyd.lib
pcl_iod.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_76.lib
libboost_bzip2-vc142-mt-gd-x64-1_76.lib
libboost_chrono-vc142-mt-gd-x64-1_76.lib
libboost_container-vc142-mt-gd-x64-1_76.lib
libboost_context-vc142-mt-gd-x64-1_76.lib
libboost_contract-vc142-mt-gd-x64-1_76.lib
libboost_coroutine-vc142-mt-gd-x64-1_76.lib
libboost_date_time-vc142-mt-gd-x64-1_76.lib
libboost_exception-vc142-mt-gd-x64-1_76.lib
libboost_fiber-vc142-mt-gd-x64-1_76.lib
libboost_filesystem-vc142-mt-gd-x64-1_76.lib
libboost_graph-vc142-mt-gd-x64-1_76.lib
libboost_graph_parallel-vc142-mt-gd-x64-1_76.lib
libboost_iostreams-vc142-mt-gd-x64-1_76.lib
libboost_json-vc142-mt-gd-x64-1_76.lib
libboost_locale-vc142-mt-gd-x64-1_76.lib
libboost_log-vc142-mt-gd-x64-1_76.lib
libboost_log_setup-vc142-mt-gd-x64-1_76.lib
libboost_math_c99-vc142-mt-gd-x64-1_76.lib
libboost_math_c99f-vc142-mt-gd-x64-1_76.lib
libboost_math_c99l-vc142-mt-gd-x64-1_76.lib
libboost_math_tr1-vc142-mt-gd-x64-1_76.lib
libboost_math_tr1f-vc142-mt-gd-x64-1_76.lib
libboost_math_tr1l-vc142-mt-gd-x64-1_76.lib
libboost_mpi-vc142-mt-gd-x64-1_76.lib
libboost_nowide-vc142-mt-gd-x64-1_76.lib
libboost_numpy38-vc142-mt-gd-x64-1_76.lib
libboost_prg_exec_monitor-vc142-mt-gd-x64-1_76.lib
libboost_program_options-vc142-mt-gd-x64-1_76.lib
libboost_python38-vc142-mt-gd-x64-1_76.lib
libboost_random-vc142-mt-gd-x64-1_76.lib
libboost_regex-vc142-mt-gd-x64-1_76.lib
libboost_serialization-vc142-mt-gd-x64-1_76.lib
libboost_stacktrace_noop-vc142-mt-gd-x64-1_76.lib
libboost_stacktrace_windbg_cached-vc142-mt-gd-x64-1_76.lib
libboost_stacktrace_windbg-vc142-mt-gd-x64-1_76.lib
libboost_system-vc142-mt-gd-x64-1_76.lib
libboost_test_exec_monitor-vc142-mt-gd-x64-1_76.lib
libboost_thread-vc142-mt-gd-x64-1_76.lib
libboost_timer-vc142-mt-gd-x64-1_76.lib
libboost_type_erasure-vc142-mt-gd-x64-1_76.lib
libboost_unit_test_framework-vc142-mt-gd-x64-1_76.lib
libboost_wave-vc142-mt-gd-x64-1_76.lib
libboost_wserialization-vc142-mt-gd-x64-1_76.lib
libboost_zlib-vc142-mt-gd-x64-1_76.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
qhull_rd.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_rd.lib
vtkChartsCore-9.0d.lib
vtkCommonColor-9.0d.lib
vtkCommonComputationalGeometry-9.0d.lib
vtkCommonCore-9.0d.lib
vtkCommonDataModel-9.0d.lib
vtkCommonExecutionModel-9.0d.lib
vtkCommonMath-9.0d.lib
vtkCommonMisc-9.0d.lib
vtkCommonSystem-9.0d.lib
vtkCommonTransforms-9.0d.lib
vtkDICOMParser-9.0d.lib
vtkDomainsChemistry-9.0d.lib
vtkDomainsChemistryOpenGL2-9.0d.lib
vtkdoubleconversion-9.0d.lib
vtkexodusII-9.0d.lib
vtkexpat-9.0d.lib
vtkFiltersAMR-9.0d.lib
vtkFiltersCore-9.0d.lib
vtkFiltersExtraction-9.0d.lib
vtkFiltersFlowPaths-9.0d.lib
vtkFiltersGeneral-9.0d.lib
vtkFiltersGeneric-9.0d.lib
vtkFiltersGeometry-9.0d.lib
vtkFiltersHybrid-9.0d.lib
vtkFiltersHyperTree-9.0d.lib
vtkFiltersImaging-9.0d.lib
vtkFiltersModeling-9.0d.lib
vtkFiltersParallel-9.0d.lib
vtkFiltersParallelImaging-9.0d.lib
vtkFiltersPoints-9.0d.lib
vtkFiltersProgrammable-9.0d.lib
vtkFiltersSelection-9.0d.lib
vtkFiltersSMP-9.0d.lib
vtkFiltersSources-9.0d.lib
vtkFiltersStatistics-9.0d.lib
vtkFiltersTexture-9.0d.lib
vtkFiltersTopology-9.0d.lib
vtkFiltersVerdict-9.0d.lib
vtkfreetype-9.0d.lib
vtkGeovisCore-9.0d.lib
vtkgl2ps-9.0d.lib
vtkglew-9.0d.lib
vtkhdf5-9.0d.lib
vtkhdf5_hl-9.0d.lib
vtkImagingColor-9.0d.lib
vtkImagingCore-9.0d.lib
vtkImagingFourier-9.0d.lib
vtkImagingGeneral-9.0d.lib
vtkImagingHybrid-9.0d.lib
vtkImagingMath-9.0d.lib
vtkImagingMorphological-9.0d.lib
vtkImagingSources-9.0d.lib
vtkImagingStatistics-9.0d.lib
vtkImagingStencil-9.0d.lib
vtkInfovisCore-9.0d.lib
vtkInfovisLayout-9.0d.lib
vtkInteractionImage-9.0d.lib
vtkInteractionStyle-9.0d.lib
vtkInteractionWidgets-9.0d.lib
vtkIOAMR-9.0d.lib
vtkIOAsynchronous-9.0d.lib
vtkIOCityGML-9.0d.lib
vtkIOCore-9.0d.lib
vtkIOEnSight-9.0d.lib
vtkIOExodus-9.0d.lib
vtkIOExport-9.0d.lib
vtkIOExportGL2PS-9.0d.lib
vtkIOExportPDF-9.0d.lib
vtkIOGeometry-9.0d.lib
vtkIOImage-9.0d.lib
vtkIOImport-9.0d.lib
vtkIOInfovis-9.0d.lib
vtkIOLegacy-9.0d.lib
vtkIOLSDyna-9.0d.lib
vtkIOMINC-9.0d.lib
vtkIOMotionFX-9.0d.lib
vtkIOMovie-9.0d.lib
vtkIONetCDF-9.0d.lib
vtkIOOggTheora-9.0d.lib
vtkIOParallel-9.0d.lib
vtkIOParallelXML-9.0d.lib
vtkIOPLY-9.0d.lib
vtkIOSegY-9.0d.lib
vtkIOSQL-9.0d.lib
vtkIOTecplotTable-9.0d.lib
vtkIOVeraOut-9.0d.lib
vtkIOVideo-9.0d.lib
vtkIOXML-9.0d.lib
vtkIOXMLParser-9.0d.lib
vtkjpeg-9.0d.lib
vtkjsoncpp-9.0d.lib
vtklibharu-9.0d.lib
vtklibproj-9.0d.lib
vtklibxml2-9.0d.lib
vtkloguru-9.0d.lib
vtklz4-9.0d.lib
vtklzma-9.0d.lib
vtkmetaio-9.0d.lib
vtknetcdf-9.0d.lib
vtkogg-9.0d.lib
vtkParallelCore-9.0d.lib
vtkParallelDIY-9.0d.lib
vtkpng-9.0d.lib
vtkpugixml-9.0d.lib
vtkRenderingAnnotation-9.0d.lib
vtkRenderingContext2D-9.0d.lib
vtkRenderingContextOpenGL2-9.0d.lib
vtkRenderingCore-9.0d.lib
vtkRenderingFreeType-9.0d.lib
vtkRenderingGL2PSOpenGL2-9.0d.lib
vtkRenderingImage-9.0d.lib
vtkRenderingLabel-9.0d.lib
vtkRenderingLOD-9.0d.lib
vtkRenderingOpenGL2-9.0d.lib
vtkRenderingSceneGraph-9.0d.lib
vtkRenderingUI-9.0d.lib
vtkRenderingVolume-9.0d.lib
vtkRenderingVolumeOpenGL2-9.0d.lib
vtkRenderingVtkJS-9.0d.lib
vtksqlite-9.0d.lib
vtksys-9.0d.lib
vtkTestingRendering-9.0d.lib
vtktheora-9.0d.lib
vtktiff-9.0d.lib
vtkverdict-9.0d.lib
vtkViewsContext2D-9.0d.lib
vtkViewsCore-9.0d.lib
vtkViewsInfovis-9.0d.lib
vtkWrappingTools-9.0d.lib
vtkzlib-9.0d.lib
opengl32.lib

Debug下完成后，先转到 “测试” 进行测试，测试无误后再配置Release。
下面为 release链接器的依赖，仅供参考

pcl_common.lib
pcl_features.lib
pcl_filters.lib
pcl_io_ply.lib
pcl_io.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
libboost_atomic-vc142-mt-x64-1_76.lib
libboost_bzip2-vc142-mt-x64-1_76.lib
libboost_chrono-vc142-mt-x64-1_76.lib
libboost_container-vc142-mt-x64-1_76.lib
libboost_context-vc142-mt-x64-1_76.lib
libboost_contract-vc142-mt-x64-1_76.lib
libboost_coroutine-vc142-mt-x64-1_76.lib
libboost_date_time-vc142-mt-x64-1_76.lib
libboost_exception-vc142-mt-x64-1_76.lib
libboost_fiber-vc142-mt-x64-1_76.lib
libboost_filesystem-vc142-mt-x64-1_76.lib
libboost_graph-vc142-mt-x64-1_76.lib
libboost_graph_parallel-vc142-mt-x64-1_76.lib
libboost_iostreams-vc142-mt-x64-1_76.lib
libboost_json-vc142-mt-x64-1_76.lib
libboost_locale-vc142-mt-x64-1_76.lib
libboost_log-vc142-mt-x64-1_76.lib
libboost_log_setup-vc142-mt-x64-1_76.lib
libboost_math_c99-vc142-mt-x64-1_76.lib
libboost_math_c99f-vc142-mt-x64-1_76.lib
libboost_math_c99l-vc142-mt-x64-1_76.lib
libboost_math_tr1-vc142-mt-x64-1_76.lib
libboost_math_tr1f-vc142-mt-x64-1_76.lib
libboost_math_tr1l-vc142-mt-x64-1_76.lib
libboost_mpi-vc142-mt-x64-1_76.lib
libboost_nowide-vc142-mt-x64-1_76.lib
libboost_numpy38-vc142-mt-x64-1_76.lib
libboost_prg_exec_monitor-vc142-mt-x64-1_76.lib
libboost_program_options-vc142-mt-x64-1_76.lib
libboost_python38-vc142-mt-x64-1_76.lib
libboost_random-vc142-mt-x64-1_76.lib
libboost_regex-vc142-mt-x64-1_76.lib
libboost_serialization-vc142-mt-x64-1_76.lib
libboost_stacktrace_noop-vc142-mt-x64-1_76.lib
libboost_stacktrace_windbg_cached-vc142-mt-x64-1_76.lib
libboost_stacktrace_windbg-vc142-mt-x64-1_76.lib
libboost_system-vc142-mt-x64-1_76.lib
libboost_test_exec_monitor-vc142-mt-x64-1_76.lib
libboost_thread-vc142-mt-x64-1_76.lib
libboost_timer-vc142-mt-x64-1_76.lib
libboost_type_erasure-vc142-mt-x64-1_76.lib
libboost_unit_test_framework-vc142-mt-x64-1_76.lib
libboost_wave-vc142-mt-x64-1_76.lib
libboost_wserialization-vc142-mt-x64-1_76.lib
libboost_zlib-vc142-mt-x64-1_76.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_s.lib
qhull_r.lib
qhullcpp.lib
qhullstatic.lib
qhullstatic_r.lib
vtkChartsCore-9.0.lib
vtkCommonColor-9.0.lib
vtkCommonComputationalGeometry-9.0.lib
vtkCommonCore-9.0.lib
vtkCommonDataModel-9.0.lib
vtkCommonExecutionModel-9.0.lib
vtkCommonMath-9.0.lib
vtkCommonMisc-9.0.lib
vtkCommonSystem-9.0.lib
vtkCommonTransforms-9.0.lib
vtkDICOMParser-9.0.lib
vtkDomainsChemistry-9.0.lib
vtkDomainsChemistryOpenGL2-9.0.lib
vtkdoubleconversion-9.0.lib
vtkexodusII-9.0.lib
vtkexpat-9.0.lib
vtkFiltersAMR-9.0.lib
vtkFiltersCore-9.0.lib
vtkFiltersExtraction-9.0.lib
vtkFiltersFlowPaths-9.0.lib
vtkFiltersGeneral-9.0.lib
vtkFiltersGeneric-9.0.lib
vtkFiltersGeometry-9.0.lib
vtkFiltersHybrid-9.0.lib
vtkFiltersHyperTree-9.0.lib
vtkFiltersImaging-9.0.lib
vtkFiltersModeling-9.0.lib
vtkFiltersParallel-9.0.lib
vtkFiltersParallelImaging-9.0.lib
vtkFiltersPoints-9.0.lib
vtkFiltersProgrammable-9.0.lib
vtkFiltersSelection-9.0.lib
vtkFiltersSMP-9.0.lib
vtkFiltersSources-9.0.lib
vtkFiltersStatistics-9.0.lib
vtkFiltersTexture-9.0.lib
vtkFiltersTopology-9.0.lib
vtkFiltersVerdict-9.0.lib
vtkfreetype-9.0.lib
vtkGeovisCore-9.0.lib
vtkgl2ps-9.0.lib
vtkglew-9.0.lib
vtkhdf5-9.0.lib
vtkhdf5_hl-9.0.lib
vtkImagingColor-9.0.lib
vtkImagingCore-9.0.lib
vtkImagingFourier-9.0.lib
vtkImagingGeneral-9.0.lib
vtkImagingHybrid-9.0.lib
vtkImagingMath-9.0.lib
vtkImagingMorphological-9.0.lib
vtkImagingSources-9.0.lib
vtkImagingStatistics-9.0.lib
vtkImagingStencil-9.0.lib
vtkInfovisCore-9.0.lib
vtkInfovisLayout-9.0.lib
vtkInteractionImage-9.0.lib
vtkInteractionStyle-9.0.lib
vtkInteractionWidgets-9.0.lib
vtkIOAMR-9.0.lib
vtkIOAsynchronous-9.0.lib
vtkIOCityGML-9.0.lib
vtkIOCore-9.0.lib
vtkIOEnSight-9.0.lib
vtkIOExodus-9.0.lib
vtkIOExport-9.0.lib
vtkIOExportGL2PS-9.0.lib
vtkIOExportPDF-9.0.lib
vtkIOGeometry-9.0.lib
vtkIOImage-9.0.lib
vtkIOImport-9.0.lib
vtkIOInfovis-9.0.lib
vtkIOLegacy-9.0.lib
vtkIOLSDyna-9.0.lib
vtkIOMINC-9.0.lib
vtkIOMotionFX-9.0.lib
vtkIOMovie-9.0.lib
vtkIONetCDF-9.0.lib
vtkIOOggTheora-9.0.lib
vtkIOParallel-9.0.lib
vtkIOParallelXML-9.0.lib
vtkIOPLY-9.0.lib
vtkIOSegY-9.0.lib
vtkIOSQL-9.0.lib
vtkIOTecplotTable-9.0.lib
vtkIOVeraOut-9.0.lib
vtkIOVideo-9.0.lib
vtkIOXML-9.0.lib
vtkIOXMLParser-9.0.lib
vtkjpeg-9.0.lib
vtkjsoncpp-9.0.lib
vtklibharu-9.0.lib
vtklibproj-9.0.lib
vtklibxml2-9.0.lib
vtkloguru-9.0.lib
vtklz4-9.0.lib
vtklzma-9.0.lib
vtkmetaio-9.0.lib
vtknetcdf-9.0.lib
vtkogg-9.0.lib
vtkParallelCore-9.0.lib
vtkParallelDIY-9.0.lib
vtkpng-9.0.lib
vtkpugixml-9.0.lib
vtkRenderingAnnotation-9.0.lib
vtkRenderingContext2D-9.0.lib
vtkRenderingContextOpenGL2-9.0.lib
vtkRenderingCore-9.0.lib
vtkRenderingFreeType-9.0.lib
vtkRenderingGL2PSOpenGL2-9.0.lib
vtkRenderingImage-9.0.lib
vtkRenderingLabel-9.0.lib
vtkRenderingLOD-9.0.lib
vtkRenderingOpenGL2-9.0.lib
vtkRenderingSceneGraph-9.0.lib
vtkRenderingUI-9.0.lib
vtkRenderingVolume-9.0.lib
vtkRenderingVolumeOpenGL2-9.0.lib
vtkRenderingVtkJS-9.0.lib
vtksqlite-9.0.lib
vtksys-9.0.lib
vtkTestingRendering-9.0.lib
vtktheora-9.0.lib
vtktiff-9.0.lib
vtkverdict-9.0.lib
vtkViewsContext2D-9.0.lib
vtkViewsCore-9.0.lib
vtkViewsInfovis-9.0.lib
vtkWrappingTools-9.0.lib
vtkzlib-9.0.lib
OpenNI2.lib
kernel32.lib
user32.lib
gdi32.lib
winspool.lib
shell32.lib
ole32.lib
oleaut32.lib
uuid.lib
comdlg32.lib
advapi32.lib
comctl32.lib
wsock32.lib
glu32.lib
opengl32.lib
ws2_32.lib
Psapi.lib

测试

兔子点云
提取码：r0pv
把百度云中的rabbit.pcd文件下载下来，放在与项目中的主.cpp同一位置的文件夹下

测试代码

#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;
}