PCL1.8.1配置VS2017（百分之20原创）

其他 2020-09-13 22:54:20 阅读次数: 0

软件准备：

下载PCL库：http://pointclouds.org   ，这是PCL的官网，下载速度还比较快，建议在官网下载。点击主页的Dev Zone。（嫌麻烦的小伙伴可以我的云盘下载，版本：PCL-1.8.1-AllInOne-msvc2017-win64.exe、pcl-1.8.1-pdb-msvc2017-win64.zip以及后面例子要用的rabbit.pcd文件和报错后需要的动态库。链接：https://pan.baidu.com/s/1jHyT6pRCzWXAamzhOhuNBQ 
提取码：iqvk ）
 

配置环境变量

配置VS2017

打开VS新建一个控制台程序。在解决方案管理器里找到你新建的项目，右键点属性，弹出属性页窗口。

2、C/C++-->预处理器-->预处理器定义，添加上如下内容：

3、VC++目录-->包含目录，添加如下内容：

4、VC++目录-->库目录，添加如下内容

5、链接器-->输入-->附加依赖项，添加以下内容（分Debug版本和Release版本）

Debug:版本：

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;
Release版本：

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;
pcl_io_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;
OpenNI2.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;
qhull_p.lib;
qhull_r.lib;
qhull.lib;
qhullcpp.lib;
qhullstatic.lib;
qhullstatic_r.lib;
flann.lib;
flann_cpp.lib;
flann_cpp_s.lib;
flann_s.lib;
例子：

rabbit.pcd文件在前面的网盘中，代码如下：

#include<pcl/visualization/cloud_viewer.h>
#include<iostream>
#include<pcl/io/io.h>
#include<pcl/io/pcd_io.h>
#include<pcl/io/ply_io.h>
#include<pcl/point_types.h>
int user_data;
using std::cout;
 
 
void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) {
	viewer.setBackgroundColor(1.0, 0.5, 1.0); 
}
 
int main() 
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
 
	char strfilepath[256] = "F:\\work_source\\TCCL\\ReadData\\ReadData\\src\\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");
 
	viewer.showCloud(cloud);
	viewer.runOnVisualizationThreadOnce(viewerOneOff);
	system("pause");
	return 0;
}

运行后出图

编译运行可能会报错，系统提示“没有找到pcl_common_debug.dll ，因此这个应用程序未能启动。重新安装应用程序可能会修复此问题”。。。

并确认，已把pdb解压文件复制到安装好PCL目录的bin文件夹中。

解决办法：

（1）把bin里的所有dll文件放到WINDOWS SYSTEM32下；

或者（2） 把报缺的pcl_common_debug.dll等动态链接库找到拷贝到工程目录下，或者建一个目录，把需要的dll放进去，在VS2017中把文件夹包含进去；

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