PCL1.8.0+VS2013+Win10 x64的配置教程

前言

本篇文章主要介绍一下PCL库的配置过程，适合PCL入门。

一配置环境

1.win10 X64

2.Visual Studio 2013

二 准备工作

下文我们均以64位操作系统为例。首先，下载需要的文件，我将相关文件包已经上传到了网盘，下载链接为：https://pan.baidu.com/s/1WUUBR_MLA12ZBdu2ayYghQ 密码：z7fw

三 安装

1.双击安装包中的「PCL-1.8.0-AllInOne-msvc2013-win64.exe」程序，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。

以下具体内容都以我的安装路径为例：

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_ROOT下的3rdParty\OpenNI2文件夹，例：

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 ROOT下的bin文件夹中，例如：

D:\ProGrammeFiles\PCL1.8.0\PCL 1.8.0

四 环境变量

上面说过了安装程序会自动添加PCL_ROOT到系统环境变量中，此外还要手动添加QHull、FLANN、VTK、OpenNI2的bin目录到PATH中，例：

注意：如果安装程序没有自动添加PCL_ROOT则需要手动添加（如下图所示）

五 项目配置

1.在VS2013中新建项目。注意：VS2013中Configuration Manager（配置管理器）默认Active solution plantform(活动平台)是win32，如果安装的是x64的PCL需要将其改成x64,否则编译时候会出现奇怪的问题。

2.Solution Explorer（解决方案管理器）中右键项目->Properties(属性)

Configuration Properties（配置管理器）->C/C++->Preprocessor(预处理器)->Preprocessor Definitions（预处理定义）中添加如下两项：

_SCL_SECURE_NO_WARNINGS

_CRT_SECURE_NO_WARNINGS

3.Property Manager（属性管理器）中。

Property Manager与Solution Explorer在同一个tab布局中，如果没找到的话，可通过如下方式寻找属性管理器：菜单栏的VIEW(视图)->Other Windows(其他窗口)->Property Manager（属性管理器）。

接下来开始配置属性表，此处以debug模式下配置为例：

（1）新建一个工程「PCL_Test」，如上图，将项目设置成64位。

（2）切换属性管理器，在Debug|64位下添加新项目属性表，取名为「PCL_Debug.props」。

左侧VC++目录，包含目录设置如图：

左侧VC++目录，库目录设置如图：

左侧链接器-输入，附加依赖项：

附加依赖项中，配置内容如下(debug版本下)：

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-vc120-mt-gd-1_59.lib

libboost_chrono-vc120-mt-gd-1_59.lib

libboost_container-vc120-mt-gd-1_59.lib

libboost_context-vc120-mt-gd-1_59.lib

libboost_coroutine-vc120-mt-gd-1_59.lib

libboost_date_time-vc120-mt-gd-1_59.lib

libboost_exception-vc120-mt-gd-1_59.lib

libboost_filesystem-vc120-mt-gd-1_59.lib

libboost_graph-vc120-mt-gd-1_59.lib

libboost_iostreams-vc120-mt-gd-1_59.lib

libboost_locale-vc120-mt-gd-1_59.lib

libboost_log-vc120-mt-gd-1_59.lib

libboost_log_setup-vc120-mt-gd-1_59.lib

libboost_math_c99-vc120-mt-gd-1_59.lib

libboost_math_c99f-vc120-mt-gd-1_59.lib

libboost_math_c99l-vc120-mt-gd-1_59.lib

libboost_math_tr1-vc120-mt-gd-1_59.lib

libboost_math_tr1f-vc120-mt-gd-1_59.lib

libboost_math_tr1l-vc120-mt-gd-1_59.lib

libboost_mpi-vc120-mt-gd-1_59.lib

libboost_prg_exec_monitor-vc120-mt-gd-1_59.lib

libboost_program_options-vc120-mt-gd-1_59.lib

libboost_random-vc120-mt-gd-1_59.lib

libboost_regex-vc120-mt-gd-1_59.lib

libboost_serialization-vc120-mt-gd-1_59.lib

libboost_signals-vc120-mt-gd-1_59.lib

libboost_system-vc120-mt-gd-1_59.lib

libboost_test_exec_monitor-vc120-mt-gd-1_59.lib

libboost_thread-vc120-mt-gd-1_59.lib

libboost_timer-vc120-mt-gd-1_59.lib

libboost_unit_test_framework-vc120-mt-gd-1_59.lib

libboost_wave-vc120-mt-gd-1_59.lib

libboost_wserialization-vc120-mt-gd-1_59.lib

vtkalglib-7.0-gd.lib

vtkChartsCore-7.0-gd.lib

vtkCommonCore-7.0-gd.lib

vtkCommonColor-7.0-gd.lib

vtkCommonComputationalGeometry-7.0-gd.lib

vtkCommonDataModel-7.0-gd.lib

vtkCommonExecutionModel-7.0-gd.lib

vtkCommonMath-7.0-gd.lib

vtkCommonMisc-7.0-gd.lib

vtkCommonSystem-7.0-gd.lib

vtkCommonTransforms-7.0-gd.lib

vtkDICOMParser-7.0-gd.lib

vtkDomainsChemistry-7.0-gd.lib

vtkexoIIc-7.0-gd.lib

vtkexpat-7.0-gd.lib

vtkFiltersAMR-7.0-gd.lib

vtkFiltersCore-7.0-gd.lib

vtkFiltersExtraction-7.0-gd.lib

vtkFiltersFlowPaths-7.0-gd.lib

vtkFiltersGeneral-7.0-gd.lib

vtkFiltersGeneric-7.0-gd.lib

vtkFiltersGeometry-7.0-gd.lib

vtkFiltersHybrid-7.0-gd.lib

vtkFiltersHyperTree-7.0-gd.lib

vtkFiltersImaging-7.0-gd.lib

vtkFiltersModeling-7.0-gd.lib

vtkFiltersParallel-7.0-gd.lib

vtkFiltersParallelImaging-7.0-gd.lib

vtkFiltersProgrammable-7.0-gd.lib

vtkFiltersSelection-7.0-gd.lib

vtkFiltersSMP-7.0-gd.lib

vtkFiltersSources-7.0-gd.lib

vtkFiltersStatistics-7.0-gd.lib

vtkFiltersTexture-7.0-gd.lib

vtkFiltersVerdict-7.0-gd.lib

vtkfreetype-7.0-gd.lib

vtkGeovisCore-7.0-gd.lib

vtkhdf5-7.0-gd.lib

vtkhdf5_hl-7.0-gd.lib

vtkImagingColor-7.0-gd.lib

vtkImagingCore-7.0-gd.lib

vtkImagingFourier-7.0-gd.lib

vtkImagingGeneral-7.0-gd.lib

vtkImagingHybrid-7.0-gd.lib

vtkImagingMath-7.0-gd.lib

vtkImagingMorphological-7.0-gd.lib

vtkImagingSources-7.0-gd.lib

vtkImagingStatistics-7.0-gd.lib

vtkImagingStencil-7.0-gd.lib

vtkInfovisCore-7.0-gd.lib

vtkInfovisLayout-7.0-gd.lib

vtkInteractionImage-7.0-gd.lib

vtkInteractionStyle-7.0-gd.lib

vtkInteractionWidgets-7.0-gd.lib

vtkIOAMR-7.0-gd.lib

vtkIOCore-7.0-gd.lib

vtkIOEnSight-7.0-gd.lib

vtkIOExodus-7.0-gd.lib

vtkIOExport-7.0-gd.lib

vtkIOGeometry-7.0-gd.lib

vtkIOImage-7.0-gd.lib

vtkIOImport-7.0-gd.lib

vtkIOInfovis-7.0-gd.lib

vtkIOLegacy-7.0-gd.lib

vtkIOLSDyna-7.0-gd.lib

vtkIOMINC-7.0-gd.lib

vtkIOMovie-7.0-gd.lib

vtkIONetCDF-7.0-gd.lib

vtkIOParallel-7.0-gd.lib

vtkIOParallelXML-7.0-gd.lib

vtkIOPLY-7.0-gd.lib

vtkIOSQL-7.0-gd.lib

vtkIOVideo-7.0-gd.lib

vtkIOXML-7.0-gd.lib

vtkIOXMLParser-7.0-gd.lib

vtkjpeg-7.0-gd.lib

vtkjsoncpp-7.0-gd.lib

vtklibxml2-7.0-gd.lib

vtkmetaio-7.0-gd.lib

vtkNetCDF-7.0-gd.lib

vtkNetCDF_cxx-7.0-gd.lib

vtkoggtheora-7.0-gd.lib

vtkParallelCore-7.0-gd.lib

vtkpng-7.0-gd.lib

vtkproj4-7.0-gd.lib

vtkRenderingAnnotation-7.0-gd.lib

vtkRenderingContext2D-7.0-gd.lib

vtkRenderingContextOpenGL2-7.0-gd.lib

vtkRenderingCore-7.0-gd.lib

vtkRenderingFreeType-7.0-gd.lib

vtkRenderingImage-7.0-gd.lib

vtkRenderingLabel-7.0-gd.lib

vtkRenderingLOD-7.0-gd.lib

vtkRenderingOpenGL2-7.0-gd.lib

vtkRenderingVolume-7.0-gd.lib

vtkRenderingVolumeOpenGL2-7.0-gd.lib

vtksqlite-7.0-gd.lib

vtksys-7.0-gd.lib

vtktiff-7.0-gd.lib

vtkverdict-7.0-gd.lib

vtkViewsContext2D-7.0-gd.lib

vtkViewsCore-7.0-gd.lib

vtkViewsInfovis-7.0-gd.lib

vtkzlib-7.0-gd.lib

vtkGUISupportQt-7.0-gd.lib

vtkRenderingQt-7.0-gd.lib

vtkViewsQt-7.0-gd.lib

flann_cpp_s-gd.lib

qhullstatic-gd.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

release版本下的附加依赖项，配置如下：

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-vc120-mt-1_59.lib

libboost_chrono-vc120-mt-1_59.lib

libboost_container-vc120-mt-1_59.lib

libboost_context-vc120-mt-1_59.lib

libboost_coroutine-vc120-mt-1_59.lib

libboost_date_time-vc120-mt-1_59.lib

libboost_exception-vc120-mt-1_59.lib

libboost_filesystem-vc120-mt-1_59.lib

libboost_graph-vc120-mt-1_59.lib

libboost_iostreams-vc120-mt-1_59.lib

libboost_locale-vc120-mt-1_59.lib

libboost_log-vc120-mt-1_59.lib

libboost_log_setup-vc120-mt-1_59.lib

libboost_math_c99-vc120-mt-1_59.lib

libboost_math_c99f-vc120-mt-1_59.lib

libboost_math_c99l-vc120-mt-1_59.lib

libboost_math_tr1-vc120-mt-1_59.lib

libboost_math_tr1f-vc120-mt-1_59.lib

libboost_math_tr1l-vc120-mt-1_59.lib

libboost_mpi-vc120-mt-1_59.lib

libboost_prg_exec_monitor-vc120-mt-1_59.lib

libboost_program_options-vc120-mt-1_59.lib

libboost_random-vc120-mt-1_59.lib

libboost_regex-vc120-mt-1_59.lib

libboost_serialization-vc120-mt-1_59.lib

libboost_signals-vc120-mt-1_59.lib

libboost_system-vc120-mt-1_59.lib

libboost_test_exec_monitor-vc120-mt-1_59.lib

libboost_thread-vc120-mt-1_59.lib

libboost_timer-vc120-mt-1_59.lib

libboost_unit_test_framework-vc120-mt-1_59.lib

libboost_wave-vc120-mt-1_59.lib

libboost_wserialization-vc120-mt-1_59.lib

flann_cpp_s.lib

flann_s.lib

qhull.lib

qhullcpp.lib

qhullstatic.lib

qhullstatic_r.lib

qhull_p.lib

qhull_r.lib

vtkalglib-7.0.lib

vtkChartsCore-7.0.lib

vtkCommonColor-7.0.lib

vtkCommonComputationalGeometry-7.0.lib

vtkCommonCore-7.0.lib

vtkCommonDataModel-7.0.lib

vtkCommonExecutionModel-7.0.lib

vtkCommonMath-7.0.lib

vtkCommonMisc-7.0.lib

vtkCommonSystem-7.0.lib

vtkCommonTransforms-7.0.lib

vtkDICOMParser-7.0.lib

vtkDomainsChemistry-7.0.lib

vtkDomainsChemistryOpenGL2-7.0.lib

vtkexoIIc-7.0.lib

vtkexpat-7.0.lib

vtkFiltersAMR-7.0.lib

vtkFiltersCore-7.0.lib

vtkFiltersExtraction-7.0.lib

vtkFiltersFlowPaths-7.0.lib

vtkFiltersGeneral-7.0.lib

vtkFiltersGeneric-7.0.lib

vtkFiltersGeometry-7.0.lib

vtkFiltersHybrid-7.0.lib

vtkFiltersHyperTree-7.0.lib

vtkFiltersImaging-7.0.lib

vtkFiltersModeling-7.0.lib

vtkFiltersParallel-7.0.lib

vtkFiltersParallelImaging-7.0.lib

vtkFiltersProgrammable-7.0.lib

vtkFiltersSelection-7.0.lib

vtkFiltersSMP-7.0.lib

vtkFiltersSources-7.0.lib

vtkFiltersStatistics-7.0.lib

vtkFiltersTexture-7.0.lib

vtkFiltersVerdict-7.0.lib

vtkfreetype-7.0.lib

vtkGeovisCore-7.0.lib

vtkglew-7.0.lib

vtkGUISupportQt-7.0.lib

vtkGUISupportQtSQL-7.0.lib

vtkhdf5-7.0.lib

vtkhdf5_hl-7.0.lib

vtkImagingColor-7.0.lib

vtkImagingCore-7.0.lib

vtkImagingFourier-7.0.lib

vtkImagingGeneral-7.0.lib

vtkImagingHybrid-7.0.lib

vtkImagingMath-7.0.lib

vtkImagingMorphological-7.0.lib

vtkImagingSources-7.0.lib

vtkImagingStatistics-7.0.lib

vtkImagingStencil-7.0.lib

vtkInfovisCore-7.0.lib

vtkInfovisLayout-7.0.lib

vtkInteractionImage-7.0.lib

vtkInteractionStyle-7.0.lib

vtkInteractionWidgets-7.0.lib

vtkIOAMR-7.0.lib

vtkIOCore-7.0.lib

vtkIOEnSight-7.0.lib

vtkIOExodus-7.0.lib

vtkIOExport-7.0.lib

vtkIOGeometry-7.0.lib

vtkIOImage-7.0.lib

vtkIOImport-7.0.lib

vtkIOInfovis-7.0.lib

vtkIOLegacy-7.0.lib

vtkIOLSDyna-7.0.lib

vtkIOMINC-7.0.lib

vtkIOMovie-7.0.lib

vtkIONetCDF-7.0.lib

vtkIOParallel-7.0.lib

vtkIOParallelXML-7.0.lib

vtkIOPLY-7.0.lib

vtkIOSQL-7.0.lib

vtkIOVideo-7.0.lib

vtkIOXML-7.0.lib

vtkIOXMLParser-7.0.lib

vtkjpeg-7.0.lib

vtkjsoncpp-7.0.lib

vtklibxml2-7.0.lib

vtkmetaio-7.0.lib

vtkNetCDF-7.0.lib

vtkNetCDF_cxx-7.0.lib

vtkoggtheora-7.0.lib

vtkParallelCore-7.0.lib

vtkpng-7.0.lib

vtkproj4-7.0.lib

vtkRenderingAnnotation-7.0.lib

vtkRenderingContext2D-7.0.lib

vtkRenderingContextOpenGL2-7.0.lib

vtkRenderingCore-7.0.lib

vtkRenderingFreeType-7.0.lib

vtkRenderingImage-7.0.lib

vtkRenderingLabel-7.0.lib

vtkRenderingLOD-7.0.lib

vtkRenderingOpenGL2-7.0.lib

vtkRenderingQt-7.0.lib

vtkRenderingVolume-7.0.lib

vtkRenderingVolumeOpenGL2-7.0.lib

vtksqlite-7.0.lib

vtksys-7.0.lib

vtktiff-7.0.lib

vtkverdict-7.0.lib

vtkViewsContext2D-7.0.lib

vtkViewsCore-7.0.lib

vtkViewsInfovis-7.0.lib

vtkViewsQt-7.0.lib

vtkzlib-7.0.lib

上面的包含目录，库目录按你自己的来，附加依赖项有些库版本不同，不同的建议去搜其他的。

六 工程测试

新建一个cpp文件，输入下列代码：

#include  
#include <iostream> 
#include  
#include  
int user_data;void viewerOneOff(pcl::visualization::PCLVisualizer& viewer){
 viewer.setBackgroundColor(1.0, 0.5, 1.0);
 pcl::PointXYZ o;
 o.x = 1.0;
 o.y = 0;
 o.z = 0;
 viewer.addSphere(o, 0.25, "sphere", 0); 
 std::cout << "i only run once" << std::endl;
}
 void viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
{ 
 static unsigned count = 0; 
 std::stringstream ss;
 ss << "Once per viewer loop: " << count++;
 viewer.removeShape("text", 0);
 viewer.addText(ss.str(), 200, 300, "text", 0); 
 //FIXME: possible race condition here: 
 user_data++;
}
 int main()
{
 pcl::PointCloud<:pointxyzrgba>::Ptr cloud(new pcl::PointCloud<:pointxyzrgba>);
 pcl::io::loadPCDFile("my_point_cloud.pcd", *cloud);
 pcl::visualization::CloudViewer viewer("Cloud Viewer"); //blocks until the cloud is actually rendered 
 viewer.showCloud(cloud); //use the following functions to get access to the underlying more advanced/powerful 
 //PCLVisualizer 
 //This will only get called once 
 viewer.runOnVisualizationThreadOnce(viewerOneOff); //This will get called once per visualization iteration 
 viewer.runOnVisualizationThread(viewerPsycho); while (!viewer.wasStopped())
 { //you can also do cool processing here 
 //FIXME: Note that this is running in a separate thread from viewerPsycho 
 //and you should guard against race conditions yourself... 
 user_data++;
 } return 0;
}
 
/<iostream>

运行之后，如果出现下图：

上下滚动下鼠标滚轮，便可以得到下图：

说明工程属性表配置成功。

七 结语

博文中所述过程，对于PCL各个版本和windows各个系统版本都有效。下载正确的PCL和VS版本，是配置的前提。从PCL All in one 安装包名称可以了解PCL版本及需要的VS版本或系统位数。

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