VS2015配置PCL1.8.1

蔚落 2022-01-15 16:31 413阅读 0赞

## 1、首先确认电脑安装VS2015 ##

## 2、下载两个文件PCL-1.8.1-AllInOne-msvc2015-win64.exe和pcl-1.8.1-pdb-msvc2015-win64.zip ##

**链接：**[https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.8.1][https_github.com_PointCloudLibrary_pcl_releases_tag_pcl-1.8.1]

**在最下面可以找到：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70][]

## 3、安装PCL1.8.1 ##

**选择第二项**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70 1][]

**删除空格：**

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70 2][]

**点击安装**，安装过程中会弹出窗口提示安装**OpenNI**，将OpenNI的安装路径更改为自己选定的安装PCL的第三方库（3rdparty文件夹）的路径下，即：**C:\\Program Files\\PCL1.8.1\\3rdParty\\OpenNI2**

安装过程有窗口警告提示你**路径太长的错误提示**，点击确定不影响。

## 4、解压下载的**PCL-1.8.1-pdb-msvc2015-win64.zip** ##

将里面的文件全部复制到PCL安装路径下bin文件夹中：**C:\\Program Files\\PCL1.8.1\\bin**

## 5、新建6个环境变量，重启电脑。 ##

%PCL_ROOT\bin
    %PCL_ROOT%\3rdParty\VTK\bin
    %PCL_ROOT\3rdParty\FLANN\bin
    %OPENNI2_REDIST64%
    %PCL_ROOT%\3rdParty\Qhull\bin
    %PCL_ROOT%\3rdParty\OpenNI2\Tools

## 6、打开vs2015，新建控制台应用程序，项目名称为pclTest ##

找到属性管理器，在Release|x64右击选择第一项“添加新项目属性表”，命名为：**PCLRelease64**

![20190613143309912.png][]

在**PCLRelease64**右击选择属性或者双击属性表

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70 3][]

包括目录：

C:\Program Files\PCL1.8.1\include
    C:\Program Files\PCL1.8.1\3rdParty\Boost\include\boost-1_64
    C:\Program Files\PCL1.8.1\3rdParty\Eigen\eigen3
    C:\Program Files\PCL1.8.1\3rdParty\FLANN\include
    C:\Program Files\PCL1.8.1\3rdParty\OpenNI2\Include
    C:\Program Files\PCL1.8.1\3rdParty\Qhull\include
    C:\Program Files\PCL1.8.1\3rdParty\VTK\include\vtk-8.0

库目录：

C:\Program Files\PCL1.8.1\lib
    C:\Program Files\PCL1.8.1\3rdParty\Boost\lib
    C:\Program Files\PCL1.8.1\3rdParty\FLANN\lib
    C:\Program Files\PCL1.8.1\3rdParty\OpenNI2\Lib
    C:\Program Files\PCL1.8.1\3rdParty\Qhull\lib
    C:\Program Files\PCL1.8.1\3rdParty\VTK\lib

附加依赖项：

shell32.lib
    vtknetcdf_c++.lib
    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-vc140-mt-1_64.lib
    libboost_bzip2-vc140-mt-1_64.lib
    libboost_chrono-vc140-mt-1_64.lib
    libboost_container-vc140-mt-1_64.lib
    libboost_context-vc140-mt-1_64.lib
    libboost_coroutine-vc140-mt-1_64.lib
    libboost_date_time-vc140-mt-1_64.lib
    libboost_exception-vc140-mt-1_64.lib
    libboost_fiber-vc140-mt-1_64.lib
    libboost_filesystem-vc140-mt-1_64.lib
    libboost_graph-vc140-mt-1_64.lib
    libboost_graph_parallel-vc140-mt-1_64.lib
    libboost_iostreams-vc140-mt-1_64.lib
    libboost_locale-vc140-mt-1_64.lib
    libboost_log-vc140-mt-1_64.lib
    libboost_log_setup-vc140-mt-1_64.lib
    libboost_math_c99-vc140-mt-1_64.lib
    libboost_math_c99f-vc140-mt-1_64.lib
    libboost_math_c99l-vc140-mt-1_64.lib
    libboost_math_tr1-vc140-mt-1_64.lib
    libboost_math_tr1f-vc140-mt-1_64.lib
    libboost_math_tr1l-vc140-mt-1_64.lib
    libboost_mpi-vc140-mt-1_64.lib
    libboost_numpy3-vc140-mt-1_64.lib
    libboost_numpy-vc140-mt-1_64.lib
    libboost_prg_exec_monitor-vc140-mt-1_64.lib
    libboost_program_options-vc140-mt-1_64.lib
    libboost_python3-vc140-mt-1_64.lib
    libboost_python-vc140-mt-1_64.lib
    libboost_random-vc140-mt-1_64.lib
    libboost_regex-vc140-mt-1_64.lib
    libboost_serialization-vc140-mt-1_64.lib
    libboost_signals-vc140-mt-1_64.lib
    libboost_system-vc140-mt-1_64.lib
    libboost_test_exec_monitor-vc140-mt-1_64.lib
    libboost_thread-vc140-mt-1_64.lib
    libboost_timer-vc140-mt-1_64.lib
    libboost_type_erasure-vc140-mt-1_64.lib
    libboost_unit_test_framework-vc140-mt-1_64.lib
    libboost_wave-vc140-mt-1_64.lib
    libboost_wserialization-vc140-mt-1_64.lib
    libboost_zlib-vc140-mt-1_64.lib
    flann.lib
    flann_cpp.lib
    flann_cpp_s.lib
    flann_s.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.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
    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
    opengl32.lib

## 7、兔子测试 ##

添加main.cpp，项目改为Release和x64，将rabbit.pcd放在相同文件下，rabbit.pcd和main.cpp下载：

[https://download.csdn.net/download/hb\_programmer/11239474][https_download.csdn.net_download_hb_programmer_11239474]

![20190613144512309.png][]

![20190613144443919.png][]

## 8、出现缺少dll的错误 ##

找到pcl安装目录的bin文件，C:\\Program Files\\PCL1.8.1\\bin,找到需要的dll放到vs项目生成exe文件夹下面即可正常运行

![20190613144200361.png][]

实验结果：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70 4][]

[https_github.com_PointCloudLibrary_pcl_releases_tag_pcl-1.8.1]: https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.8.1
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70]: /images/20220115/2ba5563a1c964e018546ebf8ce0f0b44.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70 1]: /images/20220115/08df16fd28ec40e39fee1b58a7dd9c63.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70 2]: /images/20220115/f52186fed20f4023ba940559a1048fc6.png
[20190613143309912.png]: /images/20220115/0aa7278fa88a4b59aaf4d39f2d6099e6.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70 3]: /images/20220115/ea296be6b85f411eb9c8d4dfc473ec75.png
[https_download.csdn.net_download_hb_programmer_11239474]: https://download.csdn.net/download/hb_programmer/11239474
[20190613144512309.png]: /images/20220115/f24622a7b682486ea9dba445411d64b9.png
[20190613144443919.png]: /images/20220115/ee9b55a26604443a93469ea095c106e9.png
[20190613144200361.png]: /images/20220115/cf9725af130445c195ca1b95da005fe7.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70 4]: /images/20220115/b705e38e65ce46429c57be499d379dfa.png