pcl1.11.1 + vs2019 win10 亲测可用 血泪史

1、从github下载费了一个小时时间，终于下载完了，网速时断时续的，最后终于下载完了，下载不下来的小伙伴可以看我上传的另一篇博文（所需要的文件和数据集都整理好了，当前没积分的小伙伴可以从github下载）

2、开始安装，选择好路径后就遇到的第一个问题：路径太长，直接在d盘安装都不行，试了多次发现虽然这样显示，但是其实已经安装好了，只是环境变量添加失败，根本不用管，直接点确定就行。

3、然后需要开始进行OpenNI的转移，因为我发现OpenNI被自动安装到了C:\Program Files这个路径下，并不是安装在我自己选择的D盘路径中，D盘中只有一个这个，此时双击这个安装程序进行安装位置的转移，否则后面vs设置添加路径比较麻烦。

不用管C盘中的OpenNI安装，双击这个安装程序即可，显示如下：

选择Remove，然后手动选择将OpenNI安装位置转移到D:\PCL 1.11.1\3rdParty文件夹中。

4、将pcl-1.11.1-pdb-msvc2019-win64.zip解压缩，并将解压缩文件拷贝到自己安装位置D:\PCL 1.11.1\bin文件夹下。

到此，PCL库就安装完成了，下面就是最麻烦的环境变量和vs配置了。

5、打开双击环境变量Path（这都会吧），将下面的几个变量添加进去：（我的安装路径为D:\software\pcl\an\PCL 1.11.1，大家在输的时候注意改成自己的安装路径）。

D:\software\pcl\an\PCL 1.11.1\bin

D:\software\pcl\an\PCL 1.11.1\3rdParty\VTK\bin

D:\software\pcl\an\PCL 1.11.1\3rdParty\FLANN\bin

D:\software\pcl\an\PCL 1.11.1\3rdParty\Qhull\bin

D:\software\pcl\an\PCL 1.11.1\3rdParty\OpenNI2\Tools

D:\software\pcl\an\PCL 1.11.1\3rdParty\Boost\lib

%OPENNI2_LIB64%

%OPENNI2_INCLUDE64%

%OPENNI2_REDIST64%

手懒的可以直接复制，但是注意安装路径要修改成自己的。

到此，环境变量就设置完成了，下面就是VS2019的相关配置了。

7、新建一个控制台项目，打开属性：对调试中环境进行编辑

把下面的无脑复制进去就行：

PATH=$(PCL_ROOT)\bin;$(PCL_ROOT)\3rdParty\FLANN\bin;$(PCL_ROOT)\3rdParty\OpenNI2\Tools\bin;$(PCL_ROOT)\3rdParty\Qhull\bin;$(PCL_ROOT)\3rdParty\VTK\bin
 

8、常规->SDL检查设置选择“否”：

 9、语言这里设置如下图：

10、预处理器设置：

_DEBUG
_CONSOLE
BOOST_USE_WINDOWS_H
NOMINMAX
_CRT_SECURE_NO_DEPERCATE

11、VC++包含目录编辑：

D:\software\pcl\an\PCL 1.11.1\3rdParty\VTK\include\vtk-8.2

D:\software\pcl\an\PCL 1.11.1\3rdParty\Qhull\include

D:\software\pcl\an\PCL 1.11.1\3rdParty\OpenNI2\Include

D:\software\pcl\an\PCL 1.11.1\3rdParty\FLANN\include

D:\software\pcl\an\PCL 1.11.1\3rdParty\Eigen\eigen3

D:\software\pcl\an\PCL 1.11.1\3rdParty\Boost\include\boost-1_74

D:\software\pcl\an\PCL 1.11.1\include\pcl-1.11

12、库目录编辑设置：

D:\software\pcl\an\PCL 1.11.1\3rdParty\VTK\lib

D:\software\pcl\an\PCL 1.11.1\3rdParty\Qhull\lib

D:\software\pcl\an\PCL 1.11.1\3rdParty\OpenNI2\Lib

D:\software\pcl\an\PCL 1.11.1\3rdParty\FLANN\lib

D:\software\pcl\an\PCL 1.11.1\3rdParty\Boost\lib

D:\software\pcl\an\PCL 1.11.1\lib

13、添加依赖项：（用哪个模式配置哪个模式）

Debug模式：

将下面内容复制进行就行：

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模式：

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

 到此就配置成功了。

14、下面进行验证，验证一：输入下面的代码

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int  main (int argc, char** argv)
{ 
    pcl::PointCloud<pcl::PointXYZ> cloud;   // Fill in the cloud data  
    cloud.width    = 5;  
    cloud.height   = 1;  
    cloud.is_dense = false;  
    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);
    }  
        pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);  
        std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << 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;  
        return (0);
}
 

 显示如下图的内容，便表示安装成功：

注：如果运行后显示找不到OpenNI2.dll，那么就从安装目录下D:\PCL 1.11.1\3rdParty\OpenNI2\Redist找到OpenNI2.dll复制到当前vs2019项目下的文件夹中即可。

验证二：官方兔子显示：

兔子点云下载https://pan.baidu.com/s/1D76rkjmz34A_PZFyBIsq2w  提取码：rabb

放在vs项目文件夹下，复制下面的代码：

#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;
}

 显示图像：

表示安装成功。

感谢下面四位博主的文章：1、https://blog.csdn.net/qq_33561192/article/details/112706153?utm_medium=distribute.pc_relevant_download.none-task-blog-baidujs-10.nonecase&depth_1-utm_source=distribute.pc_relevant_download.none-task-blog-baidujs-10.nonecase

2、https://blog.csdn.net/zhangxz259/article/details/85683201

3、https://blog.csdn.net/weixin_42059276/article/details/106149359?utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromMachineLearnPai2%7Edefault-1.control&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7EBlogCommendFromMachineLearnPai2%7Edefault-1.control

4、https://blog.csdn.net/syz201558503103/article/details/103892364