2020-01-08

PCL-1.8.1-msvc2017-win64安装和配置记录

1 在官网下载安装包和pdb包

pcl-github

官网下载速度较慢，可以搜索百度云盘的资源进行下载。然后运行allinone安装程序，进行安装，安装的时候注意选上Add PCL to the system PATH for all users，如图所示，这样安装程序会自动在系统环境变量中添加PCL_ROOT项。有时候汇报错路径太长添加失败，这样就需要进行手动添加路径。

2.安装的过程中会弹出OpenNI的安装程序，将OpenNI的安装路径设置为PCL安装路径下的3rdParty\OpenNI2文件夹。安装完毕之后可以检查一下，是否安装进去。



3.安装程序执行完成后，将pdb文件压缩包解压（即：PCL-1.8.0-AllInOne-msvc2013-win64-pdb.rar）,pdb文件拷贝到PCL安装目录下的bin文件夹中。

4 安装完毕之后手动添加路径。


PATH:%PCL_ROOT%\bin;D:\PCL 1.8.1\3rdParty\FLANN\bin;D:\PCL 1.8.1\3rdParty\VTK\bin;D:\PCL 1.8.1\3rdParty\OpenNI2\Tools;D:\PCL 1.8.1\bin;D:\PCL 1.8.1\3rdParty\Qhull\bin

PCL_ROOT:D:\PCL 1.8.1

重启电脑，完成配置。

新建一个工程，然后配置Debug和Release下x64的工程属性配置表，测试pcl是否配置成功。

我们采用属性表方式进行配置工程，方便之后重复使用。预处理器定义两个版本都需要定义_SCL_SECURE_NO_WARNINGS

_CRT_SECURE_NO_WARNINGS

_SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING

_MBCS


Releasex64版本的属性页：



pcl_common_release.lib

pcl_features_release.lib

pcl_filters_release.lib

pcl_io_ply_release.lib

pcl_io_release.lib

pcl_kdtree_release.lib

pcl_keypoints_release.lib

pcl_ml_release.lib

pcl_octree_release.lib

pcl_outofcore_release.lib

pcl_people_release.lib

pcl_recognition_release.lib

pcl_registration_release.lib

pcl_sample_consensus_release.lib

pcl_search_release.lib

pcl_segmentation_release.lib

pcl_stereo_release.lib

pcl_surface_release.lib

pcl_tracking_release.lib

pcl_visualization_release.lib

libboost_atomic-vc141-mt-1_64.lib

libboost_bzip2-vc141-mt-1_64.lib

libboost_chrono-vc141-mt-1_64.lib

libboost_container-vc141-mt-1_64.lib

libboost_context-vc141-mt-1_64.lib

libboost_coroutine-vc141-mt-1_64.lib

libboost_date_time-vc141-mt-1_64.lib

libboost_exception-vc141-mt-1_64.lib

libboost_fiber-vc141-mt-1_64.lib

libboost_filesystem-vc141-mt-1_64.lib

libboost_graph-vc141-mt-1_64.lib

libboost_graph_parallel-vc141-mt-1_64.lib

libboost_iostreams-vc141-mt-1_64.lib

libboost_locale-vc141-mt-1_64.lib

libboost_log-vc141-mt-1_64.lib

libboost_log_setup-vc141-mt-1_64.lib

libboost_math_c99-vc141-mt-1_64.lib

libboost_math_c99f-vc141-mt-1_64.lib

libboost_math_c99l-vc141-mt-1_64.lib

libboost_math_tr1-vc141-mt-1_64.lib

libboost_math_tr1f-vc141-mt-1_64.lib

libboost_math_tr1l-vc141-mt-1_64.lib

libboost_mpi-vc141-mt-1_64.lib

libboost_numpy-vc141-mt-1_64.lib

libboost_numpy3-vc141-mt-1_64.lib

libboost_prg_exec_monitor-vc141-mt-1_64.lib

libboost_program_options-vc141-mt-1_64.lib

libboost_python-vc141-mt-1_64.lib

libboost_python3-vc141-mt-1_64.lib

libboost_random-vc141-mt-1_64.lib

libboost_regex-vc141-mt-1_64.lib

libboost_serialization-vc141-mt-1_64.lib

libboost_signals-vc141-mt-1_64.lib

libboost_system-vc141-mt-1_64.lib

libboost_test_exec_monitor-vc141-mt-1_64.lib

libboost_thread-vc141-mt-1_64.lib

libboost_timer-vc141-mt-1_64.lib

libboost_type_erasure-vc141-mt-1_64.lib

libboost_unit_test_framework-vc141-mt-1_64.lib

libboost_wave-vc141-mt-1_64.lib

libboost_wserialization-vc141-mt-1_64.lib

libboost_zlib-vc141-mt-1_64.lib

flann.lib

flann_cpp.lib

flann_cpp_s.lib

flann_s.lib

qhull.lib

qhullcpp.lib

qhullstatic.lib

qhullstatic_r.lib

qhull_p.lib

qhull_r.lib

vtkalglib-8.0.lib

vtkChartsCore-8.0.lib

vtkCommonColor-8.0.lib

vtkCommonComputationalGeometry-8.0.lib

vtkCommonCore-8.0.lib

vtkCommonDataModel-8.0.lib

vtkCommonExecutionModel-8.0.lib

vtkCommonMath-8.0.lib

vtkCommonMisc-8.0.lib

vtkCommonSystem-8.0.lib

vtkCommonTransforms-8.0.lib

vtkDICOMParser-8.0.lib

vtkDomainsChemistry-8.0.lib

vtkexoIIc-8.0.lib

vtkexpat-8.0.lib

vtkFiltersAMR-8.0.lib

vtkFiltersCore-8.0.lib

vtkFiltersExtraction-8.0.lib

vtkFiltersFlowPaths-8.0.lib

vtkFiltersGeneral-8.0.lib

vtkFiltersGeneric-8.0.lib

vtkFiltersGeometry-8.0.lib

vtkFiltersHybrid-8.0.lib

vtkFiltersHyperTree-8.0.lib

vtkFiltersImaging-8.0.lib

vtkFiltersModeling-8.0.lib

vtkFiltersParallel-8.0.lib

vtkFiltersParallelImaging-8.0.lib

vtkFiltersPoints-8.0.lib

vtkFiltersProgrammable-8.0.lib

vtkFiltersSelection-8.0.lib

vtkFiltersSMP-8.0.lib

vtkFiltersSources-8.0.lib

vtkFiltersStatistics-8.0.lib

vtkFiltersTexture-8.0.lib

vtkFiltersTopology-8.0.lib

vtkFiltersVerdict-8.0.lib

vtkfreetype-8.0.lib

vtkGeovisCore-8.0.lib

vtkgl2ps-8.0.lib

vtkhdf5-8.0.lib

vtkhdf5_hl-8.0.lib

vtkImagingColor-8.0.lib

vtkImagingCore-8.0.lib

vtkImagingFourier-8.0.lib

vtkImagingGeneral-8.0.lib

vtkImagingHybrid-8.0.lib

vtkImagingMath-8.0.lib

vtkImagingMorphological-8.0.lib

vtkImagingSources-8.0.lib

vtkImagingStatistics-8.0.lib

vtkImagingStencil-8.0.lib

vtkInfovisCore-8.0.lib

vtkInfovisLayout-8.0.lib

vtkInteractionImage-8.0.lib

vtkInteractionStyle-8.0.lib

vtkInteractionWidgets-8.0.lib

vtkIOAMR-8.0.lib

vtkIOCore-8.0.lib

vtkIOEnSight-8.0.lib

vtkIOExodus-8.0.lib

vtkIOExport-8.0.lib

vtkIOExportOpenGL-8.0.lib

vtkIOGeometry-8.0.lib

vtkIOImage-8.0.lib

vtkIOImport-8.0.lib

vtkIOInfovis-8.0.lib

vtkIOLegacy-8.0.lib

vtkIOLSDyna-8.0.lib

vtkIOMINC-8.0.lib

vtkIOMovie-8.0.lib

vtkIONetCDF-8.0.lib

vtkIOParallel-8.0.lib

vtkIOParallelXML-8.0.lib

vtkIOPLY-8.0.lib

vtkIOSQL-8.0.lib

vtkIOTecplotTable-8.0.lib

vtkIOVideo-8.0.lib

vtkIOXML-8.0.lib

vtkIOXMLParser-8.0.lib

vtkjpeg-8.0.lib

vtkjsoncpp-8.0.lib

vtklibharu-8.0.lib

vtklibxml2-8.0.lib

vtklz4-8.0.lib

vtkmetaio-8.0.lib

vtkNetCDF-8.0.lib

vtknetcdf_c++.lib

vtkoggtheora-8.0.lib

vtkParallelCore-8.0.lib

vtkpng-8.0.lib

vtkproj4-8.0.lib

vtkRenderingAnnotation-8.0.lib

vtkRenderingContext2D-8.0.lib

vtkRenderingContextOpenGL-8.0.lib

vtkRenderingCore-8.0.lib

vtkRenderingFreeType-8.0.lib

vtkRenderingGL2PS-8.0.lib

vtkRenderingImage-8.0.lib

vtkRenderingLabel-8.0.lib

vtkRenderingLIC-8.0.lib

vtkRenderingLOD-8.0.lib

vtkRenderingOpenGL-8.0.lib

vtkRenderingVolume-8.0.lib

vtkRenderingVolumeOpenGL-8.0.lib

vtksqlite-8.0.lib

vtksys-8.0.lib

vtktiff-8.0.lib

vtkverdict-8.0.lib

vtkViewsContext2D-8.0.lib

vtkViewsCore-8.0.lib

vtkViewsInfovis-8.0.lib

vtkzlib-8.0.lib

OpenNI2.lib


Debugx64版本的属性页：



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-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_numpy-vc141-mt-gd-1_64.lib

libboost_numpy3-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_python-vc141-mt-gd-1_64.lib

libboost_python3-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

qhullcpp_d.lib

qhullstatic_d.lib

qhullstatic_r_d.lib

qhull_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

vtknetcdf_c++-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

OpenNI2.lib

测试程序如下

#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。

#include<fstream> 

#include <string> 

#include <vector>

using namespace std;

int main()

{

typedef struct tagPOINT_3D

{

double x;  //mm world coordinate x 

double y;  //mm world coordinate y 

double z;  //mm world coordinate z 

double r;

}POINT_WORLD;

/////加载txt数据 

int number_Txt;

FILE *fp_txt;

tagPOINT_3D TxtPoint;

vector<tagPOINT_3D> m_vTxtPoints;

fp_txt = fopen("za.txt", "r");

if (fp_txt)

{

while (fscanf(fp_txt, "%lf %lf %lf", &TxtPoint.x, &TxtPoint.y, &TxtPoint.z) != EOF)

{

m_vTxtPoints.push_back(TxtPoint);

}

}

else

cout << "txt数据加载失败！" << endl;

number_Txt = m_vTxtPoints.size();

//pcl::PointCloud<pcl::PointXYZ> cloud;

//这里使用“PointXYZ”是因为我后面给的点云信息是包含的三维坐标，同时还有点云信息包含的rgb颜色信息的或者还有包含rgba颜色和强度信息。

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

// Fill in the cloud data 

cloud->width = number_Txt;

cloud->height = 1;

cloud->is_dense = false;

cloud->points.resize(cloud->width * cloud->height);

for (size_t i = 0; i < cloud->points.size(); ++i)

{

cloud->points[i].x = m_vTxtPoints[i].x;

cloud->points[i].y = m_vTxtPoints[i].y;

cloud->points[i].z = m_vTxtPoints[i].z;

}

pcl::io::savePCDFileASCII("txt2pcd_bunny1.pcd", *cloud);

std::cerr << "Saved " << cloud->points.size() << " data points to txt2pcd.pcd." << 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;

//PCL Visualizer

// Viewer 

pcl::visualization::PCLVisualizer viewer("Cloud Viewer");

viewer.addPointCloud(cloud);

viewer.setBackgroundColor(0, 0, 0);

viewer.spin();

system("pause");

return 0;

}

za.txt文件内容如下：

-3.03387 -3.03879 -2.05533

-3.03776 -3.03882 -2.05536

-3.04165 -3.03886 -2.05538

-3.04554 -3.0389 -2.05541

-3.04943 -3.03894 -2.05543

-3.05332 -3.03897 -2.05546

-3.05721 -3.03901 -2.05548

-3.0611 -3.03905 -2.05551

-3.06499 -3.03908 -2.05553

-3.06888 -3.03912 -2.05556

-3.07277 -3.03916 -2.05558

-3.07666 -3.03919 -2.05561

-3.08055 -3.03923 -2.05563

-3.08444 -3.03927 -2.05566

-3.08833 -3.03931 -2.05568

-3.09222 -3.03934 -2.05571

-3.09612 -3.03938 -2.05573

-3.10001 -3.03942 -2.05576

-3.1039 -3.03945 -2.05578

-3.10779 -3.03949 -2.05581

-3.11168 -3.03953 -2.05583

-3.11557 -3.03956 -2.05586

-3.11947 -3.0396 -2.05588

-3.12336 -3.03964 -2.05591

-3.12725 -3.03968 -2.05593

-3.13114 -3.03971 -2.05596

-3.13503 -3.03975 -2.05598

-3.13893 -3.03979 -2.05601

-3.14282 -3.03982 -2.05603

-3.14671 -3.03986 -2.05606

-3.1506 -3.0399 -2.05608

-3.1545 -3.03993 -2.05611

-3.15839 -3.03997 -2.05613

-3.16228 -3.04001 -2.05616

-3.16618 -3.04005 -2.05618

-3.17007 -3.04008 -2.05621

-3.17396 -3.04012 -2.05623

-3.17786 -3.04016 -2.05626

-3.18175 -3.04019 -2.05628

-3.18564 -3.04023 -2.05631

-3.18954 -3.04027 -2.05633

-3.19343 -3.0403 -2.05636

-3.19732 -3.04034 -2.05638

-3.20122 -3.04038 -2.05641

-3.20511 -3.04042 -2.05643

-3.20901 -3.04045 -2.05646

-3.2129 -3.04049 -2.05648

-3.21679 -3.04053 -2.05651

-3.22069 -3.04056 -2.05653

-3.22458 -3.0406 -2.05656

-3.22848 -3.04064 -2.05658

-3.23237 -3.04068 -2.05661

-3.23627 -3.04071 -2.05663

-3.24016 -3.04075 -2.05666

-3.24406 -3.04079 -2.05668

-3.24795 -3.04082 -2.05671

-3.25185 -3.04086 -2.05673

-3.25574 -3.0409 -2.05676

-3.25964 -3.04093 -2.05678

-3.26353 -3.04097 -2.05681

-3.26743 -3.04101 -2.05683

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