Win10 系统下 VisualStudio2019 配置点云库 PCL1.11.1

一、下载PCL1.11.1

二、安装PCL1.11.1

2.1 安装“PCL-1.11.1-AllInOne-msvc2019-win64.exe”。
（1）选择第二个，自动添加系统变量

（2）安装路径选择D盘，系统会自动新建PCL 1.11.1文件夹。

2.2 安装完成之后打开文件夹 D:\PCL 1.11.1\3rdParty\OpenNI2
双击OpenNI-Windows-x64-2.2 选择路径（D:\PCL 1.11.1\3rdParty\OpenNI2）安装即可。

对于一些电脑可能会出现安装OpenNI2时未弹出，默认安装在C盘的情况。此时需要到目标文件夹双击安装程序，先点击REMOVE，将原本安装到c盘的卸载掉，之后重新安装到目标文件夹下。

2.3 全部安装完成后，将pcl-1.11.1-pdb-msvc2019-win64.zip解压后的.pdb文件拷贝到（D:\PCL 1.11.1\bin）中。
2.4 设置环境变量：右击计算机—属性—高级系统设置—高级—环境变量—用户变量—Path—编辑!

在这里直接给出，防止出现错误（依次添加）：

%PCL_ROOT%\3rdParty\FLANN\bin %PCL_ROOT%\3rdParty\VTK\bin %OPENNI2_REDIST64% %OPENNI2_LIB64% %OPENNI2_INCLUDE64% 

到此，环境变量的配置完成。

三、设置VS2019

3.1 新建空项目

解决方案配置选择Debug，解决方案平台选择x64。

3.2 新建一个C++源文件

3.3 右击新建的项目—属性：打开属性表

3.4 配置属性—调试—环境—添加：

PATH=D:\PCL 1.11.1\\bin;D:\PCL 1.11.1\\3rdParty\FLANN\bin;D:\PCL 1.11.1\\3rdParty\VTK\bin;D:\PCL 1.11.1\\3rdParty\OpenNI2\Tools 

3.5 C/C++—常规—SDL检查：否

3.6 C/C++—语言—符合模式：否

四、配置PCL1.11.1

4.1 VC++目录—包含目录，添加7个include路径

具体添加的include路径如下：

D:\PCL 1.11.1\include\pcl-1.11 D:\PCL 1.11.1\3rdParty\Boost\include\boost-1_74 D:\PCL 1.11.1\3rdParty\Eigen\eigen3 D:\PCL 1.11.1\3rdParty\FLANN\include D:\PCL 1.11.1\3rdParty\OpenNI2\Include D:\PCL 1.11.1\3rdParty\Qhull\include D:\PCL 1.11.1\3rdParty\VTK\include\vtk-8.2 

4.2 VC++目录—库目录，添加6个lib路径

具体添加的lib路径如下：

D:\PCL 1.11.1\lib D:\PCL 1.11.1\3rdParty\Boost\lib D:\PCL 1.11.1\3rdParty\FLANN\lib D:\PCL 1.11.1\3rdParty\OpenNI2\Lib D:\PCL 1.11.1\3rdParty\Qhull\lib D:\PCL 1.11.1\3rdParty\VTK\lib 

4.3 C/C++—预处理器—预处理器定义—添加：

BOOST_USE_WINDOWS_H NOMINMAX _CRT_SECURE_NO_DEPRECATE 

4.4 链接器—输入—附加依赖项——添加PCL和VTK的相关lib文件。我用的Debug版本。

具体添加的附加依赖项内容如下：

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 

安装完毕！！！
release版本附加依赖项

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 

五、测试代码

#include  
     #include  
     #include  
     #include  
     #include  
     #include  
     #include  
     using namespace std; int main(int argc, char** argv) { 
    srand((unsigned int)time(NULL)); pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); // 创建点云数据 cloud->width = 1000; cloud->height = 1; cloud->points.resize(cloud->width * cloud->height); for (size_t i = 0; i < cloud->points.size(); ++i) { 
    cloud->points[i].x = 1024.0f * rand() / (RAND_MAX + 1.0f); cloud->points[i].y = 1024.0f * rand() / (RAND_MAX + 1.0f); cloud->points[i].z = 1024.0f * rand() / (RAND_MAX + 1.0f); } pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(0.1); octree.setInputCloud(cloud); octree.addPointsFromInputCloud(); pcl::PointXYZ searchPoint; searchPoint.x = 1024.0f * rand() / (RAND_MAX + 1.0f); searchPoint.y = 1024.0f * rand() / (RAND_MAX + 1.0f); searchPoint.z = 1024.0f * rand() / (RAND_MAX + 1.0f); //半径内近邻搜索 vector<int>pointIdxRadiusSearch; vector<float>pointRadiusSquaredDistance; float radius = 256.0f * rand() / (RAND_MAX + 1.0f); cout << "Neighbors within radius search at (" << searchPoint.x << " " << searchPoint.y << " " << searchPoint.z << ") with radius=" << radius << endl; if (octree.radiusSearch(searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance) > 0) { 
    for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i) cout << " " << cloud->points[pointIdxRadiusSearch[i]].x << " " << cloud->points[pointIdxRadiusSearch[i]].y << " " << cloud->points[pointIdxRadiusSearch[i]].z << " (squared distance: " << pointRadiusSquaredDistance[i] << ")" << endl; } // 初始化点云可视化对象 boost::shared_ptr<pcl::visualization::PCLVisualizer>viewer(new pcl::visualization::PCLVisualizer("显示点云")); viewer->setBackgroundColor(0, 0, 0); //设置背景颜色为黑色 // 对点云着色可视化 (red). pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>target_color(cloud, 255, 0, 0); viewer->addPointCloud<pcl::PointXYZ>(cloud, target_color, "target cloud"); viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "target cloud"); // 等待直到可视化窗口关闭 while (!viewer->wasStopped()) { 
    viewer->spinOnce(100); boost::this_thread::sleep(boost::posix_time::microseconds(1000)); } return (0); } 

输出下图（数字可能不同），则表示安装成功！

六、附录—获取附加依赖项

#include  
     #include  
     #include  
     #include  
     #include  
     using namespace std; #pragma region // 从文件夹中读取lib文件 vector<string>batchFetchingLib(string& folder_path) { 
    string filename_suffix = "/*lib"; // lib文件的文件名后缀(.lib) vector<string>files; struct _finddata_t fileinfo; intptr_t handle; handle = _findfirst((folder_path + filename_suffix).data(), &fileinfo); if (handle == -1) { 
    printf("输入的路径有错误"); exit(-1); } else { 
    files.push_back(fileinfo.name); while (_findnext(handle, &fileinfo) == 0) { 
    if (strcmp(fileinfo.name, ".") == 0 || strcmp(fileinfo.name, "..") == 0) continue; files.push_back(fileinfo.name); } } _findclose(handle); return files; } #pragma endregion int main() { 
    string pcl_lib_path("D://PCL 1.11.1//lib"); // 读取lib文件的路径 string vtk_lib_path("D://PCL 1.11.1//3rdParty//VTK//lib"); // 读取VTK-lib文件的路径 vector<string>PCL = batchFetchingLib(pcl_lib_path); // 获取lib文件名 vector<string>VTK = batchFetchingLib(vtk_lib_path); // 获取VTK-lib文件名 ofstream release, debug;// 保存的文件 release.open("PCL1.11.1_Release附加依赖项.txt", ios::app); debug.open("PCL1.11.1_Debug附加依赖项.txt", ios::app); for (size_t i = 0; i < PCL.size(); ++i) { 
    (i % 2 == 0) ? release << PCL[i] << endl : debug << PCL[i] << endl; } for (size_t i = 0; i < VTK.size(); ++i) { 
    (i % 2 != 0) ? release << VTK[i] << endl : debug << VTK[i] << endl; } release.close(); debug.close(); cout << "附加依赖项获取完毕！！！" << endl; return 0; }