ソフトウェアの準備：
PCLライブラリをダウンロードします。http：//pointclouds.org、これはPCLの公式Webサイトです。ダウンロード速度は比較的速く、公式Webサイトからダウンロードすることをお勧めします。ホームページのDev Zoneをクリックします。（面倒な友達は私のクラウドディスク、バージョン：PCL-1.8.1-AllInOne-msvc2017-win64.exe、pcl-1.8.1-pdb-msvc2017-win64.zipおよびrabbitからダウンロードできます。次の例をご覧ください。エラーの後に必要なpcdファイルと動的ライブラリが報告されます。リンク：https
://pan.baidu.com/s/1jHyT6pRCzWXAamzhOhuNBQ抽出コード：iqvk）
環境変数を構成する
VS2017を構成する
VSを開き、新しいコンソールプログラムを作成します。ソリューションマネージャーで新しく作成したプロジェクトを見つけ、プロパティを右クリックすると、プロパティページウィンドウがポップアップします。
2. C / C ++-> Preprocessor-> Preprocessor定義、次のコンテンツを追加：
3. VC ++ディレクトリ->にはディレクトリが含まれ、次のコンテンツを追加します。
4. VC ++ディレクトリ->ライブラリディレクトリ、次のコンテンツを追加
5.リンカー->入力->追加の依存関係、次のコンテンツを追加（デバッグバージョンとリリースバージョンに分割）
デバッグ：バージョン：
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;
リリースバージョン：
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ファイルは以前のネットワークディスクにあり、コードは次のとおりです。
#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;
}
実行後の画像
コンパイルして実行するとエラーが報告されることがあり、システムは「pcl_common_debug.dllが見つからなかったため、このアプリケーションを開始できませんでした。アプリケーションを再インストールすると、この問題が解決する可能性があります」というプロンプトが表示されます。。。
インストールされたPCLディレクトリのbinフォルダーにpdb解凍ファイルがコピーされていることを確認します。
解決：
（1）すべてのdllファイルをWINDOWS SYSTEM32の下のbinに置きます。
または（2）欠落しているpcl_common_debug.dllと他のダイナミックリンクライブラリを見つけてプロジェクトディレクトリにコピーするか、ディレクトリを作成し、必要なdllを入れて、VS2017にフォルダーを含めます。