PCL1.8.1及VS2017的安装与配置过程

pcl1.8.1安装过程

vs2017安装过程

pcl配置过程

运行中出现的问题

1.pcl1.8.1安装过程

链接：https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.8.1
点击链接进入下载位置，根据需求选择：

然后点击AllInOne进行下载，下载很简单，就不重复下载截图了。
步骤就是：
“我接受”、“add pcl…for all users"、“选择位置安装”、”下一步“、”安装“。
安装到快结束的时候会弹出安装OpenNI2的提示，建议安装到这个位置，如下图：

安装到这个库下面。

解压“pcl-1.8.1-pdb-msvc2017-win64.zip”，将解压得到的文件夹中的内容添加到你的PCL安装目录中。如下图：

2.vs2017安装

大家这方面应该不会有问题，如果有人有问题，我后面补这一块的内容。

3.vs2017配置pcl 1.8.1

添加系统环境变量，步骤：计算机—>属性—>高级系统属性—>高级—>环境变量。如下图：

将对应路径添加进来即可，这个添加的路径是你真实的pcl中各个库的路径，每个人安装位置不同，按照自己的来，这个就是个参考。
配置完成后将电脑注销一下或者重启下。

（1）打开VS2017新建一个空项目。

（2）再新建一个.cpp文件。

（3）接下来输入程序，选择下图圈起来的版本类型，这个不是唯一的，因为后面我的属性表配置的是Release，所以暂时先选上。

代码如下：

#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("zhixian.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;
	}
	if (cloud->size() > 0)
	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;
}

其中点云的数据保存在“zhixian.txt“中，在工程目录中新建一个txt文档，添加：

-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
-3.27132	-3.04105	-2.05686
-3.27522	-3.04108	-2.05688
-3.27912	-3.04112	-2.05691
-3.28301	-3.04116	-2.05693
-3.28691	-3.04119	-2.05696
-3.2908	    -3.04123	-2.05698
-3.2947	    -3.04127	-2.05701
-3.2986	     -3.0413	-2.05703
-3.30249	-3.04134	-2.05706
-3.30639	-3.04138	-2.05708
-3.31029	-3.04142	-2.05711
-3.31418	-3.04145	-2.05713
-3.31808	-3.04149	-2.05716
-3.32198	-3.04153	-2.05718
-3.32587	-3.04156	-2.05721
-3.32977	-3.0416	    -2.05723
-3.33367	-3.04164	-2.05726
-3.33756	-3.04168	-2.05728
-3.34146	-3.04171	-2.05731
-3.34536	-3.04175	-2.05733
-3.34926	-3.04179	-2.05736
-3.35315	-3.04182	-2.05738
-3.35705	-3.04186	-2.05741
-3.36095	-3.0419	    -2.05743
-3.36485	-3.04193	-2.05746
-3.36874	-3.04197	-2.05748
-3.37264	-3.04201	-2.05751
-3.37654	-3.04205	-2.05753
-3.38044	-3.04208	-2.05756
-3.38434	-3.04212	-2.05758
-3.38824	-3.04216	-2.05761
-3.39213	-3.04219	-2.05764

txt文件的位置如下：
剩下最后一步，添加属性表就可以了。如下图：

我的不知道为啥不显示名字了，随便起个自己能懂的名字就行，注意选择的是什么模式，那属性表就添加在那里。
（4）添加属性表中的内容
1）首先在通用属性—>VC++目录—>包含目录中添加以下7个目录

C:\Program Files\PCL 1.8.1\include\pcl-1.8
C:\Program Files\PCL 1.8.1\3rdParty\Eigen\eigen3
C:\Program Files\PCL 1.8.1\3rdParty\FLANN\include
C:\Program Files\PCL 1.8.1\3rdParty\Qhull\include
C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Include
C:\Program Files\PCL 1.8.1\3rdParty\Boost\include\boost-1_64
C:\Program Files\PCL 1.8.1\3rdParty\VTK\include\vtk-8.0

2）接下来是添加lib目录，在通用属性—>VC++目录—>库目录中添加如下6个目录：

C:\Program Files\PCL 1.8.1\lib
C:\Program Files\PCL 1.8.1\3rdParty\Boost\lib
C:\Program Files\PCL 1.8.1\3rdParty\FLANN\lib
C:\Program Files\PCL 1.8.1\3rdParty\Qhull\lib
C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Lib
C:\Program Files\PCL 1.8.1\3rdParty\VTK\lib

3）在C/C++—>预处理器—>预处理器定义中添加：

_CRT_SECURE_NO_WARNINGS
_SCL_SECURE_NO_WARNINGS
_SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING

4）将C/C++—>所有选项—>SDL检查改为否

5）最后，也是最麻烦的一个：在通用属性—>链接器—>输入—>附加的依赖项中添加对应的.“lib”文件，主要是添加PCL的“.lib”文件和第三方库中VTK的“.lib”文件。

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
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
kernel32.lib
user32.lib
gdi32.lib
winspool.lib
comdlg32.lib
advapi32.lib
shell32.lib
ole32.lib
oleaut32.lib
uuid.lib
odbc32.lib
odbccp32.lib

到这里，属性表就设置完毕了，点测试程序，会出现一条直线的运行结果。

大家如果觉得内容真实有用，还请点赞评论收藏三连，让其他伙伴们能早日看到。

补充：关于运行中经常遇到的一些问题及解决方案。

1. pop_t没有找到，打开C:\Program Files\PCL 1.9.1\3rdParty\FLANN\include\flann\algorithms下的dist.h，找到typedef unsigned long long pop_t；语句，将它转移到#if __GNUC__之前即可。

2. 无法调试程序，因为丢失了pcl_common_debug.dll

将C:\Program Files\PCL 1.8.1\bin添加到环境变量的path里，并保证环境变量中的PCL_ROOT为C:\Program Files\PCL 1.8.1即可。

3. 调试程序，正常工作开始。
   https://blog.csdn.net/qq_33561192/article/details/104831462