PCL系列文章——第一篇，PCL+VTK在windows下的安装

青旅半醒 2023-06-24 08:06 30阅读 0赞

> PCL是点云处理一个非常强大的库，可以完成多种点云的操作算法；而VTK又是三维点云显示以及三维重建非常有用的库。虽然只会调库难免让人绝对低端，但这些库的功能也是真的强大。

PCL系列文章

[第一篇，PCL+VTK在windows下的安装][PCL_VTK_windows]

[第二篇，PCL的使用][PCL]

[如果需要PCL+VTK的安装文件，咸鱼链接：][PCL_VTK]

[如果需要三维点云配准的qt程序，咸鱼链接][qt]

--------------------

**目录**

第一、版本要求

第二、安装PCL

第二、替换VTK8.0.0

第三、qt中pro文件的编写以及解决运行崩溃问题

第四、解决程序运行崩溃问题

# 第一、版本要求 #

我的qt版本是：

qt5.12.0，使用msvc2015（安装的时候可以选择安装msvc各个版本，不需要安装vs2015等），64位系统（这里写的32bit不知道什么意思）

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2tpc3Nnb29kYnllMjAxMg_size_16_color_FFFFFF_t_70][]

我的pcl版本是pcl1.8.1，vtk版本是vtk8.0.0（注意pcl和vtk版本必须要对应，不对应会有各种问题）

# 第二、安装PCL #

使用的是一个安装包，pcl依赖很多的其他库，所以推荐的方式是通过一键安装包安装。

包的名称如下：PCL-1.8.1-AllInOne-msvc2015-win64.exe

![20191222210108571.png][]

安装的时候按照提示一步步进行就行，最好所有的文件放到一个文件夹下，就如下图一样。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2tpc3Nnb29kYnllMjAxMg_size_16_color_FFFFFF_t_70 1][]

安装完成，确保系统的环境变量中的PATH有如下几个路径：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2tpc3Nnb29kYnllMjAxMg_size_16_color_FFFFFF_t_70 2][]

# 第二、替换VTK8.0.0 #

由于某种原因，pcl自带的vtk并不能使用。我的pcl当前版本是pcl1.8.1，对应的vtk为vtk8.0.0。

将编译好的文件，替换pcl自带的vtk目录。

# 第三、qt中pro文件的编写以及解决运行崩溃问题 #

这里附上我的pro文件。由于我把pcl和opencv都复制了一份放到工程目录了，所以会如下所示，可以按照自己的目录进行更改。

![20191222213849238.png][]

#-------------------------------------------------
    #
    # Project created by QtCreator 2019-12-01T22:16:14
    #
    #-------------------------------------------------
    
    QT       += core gui
    
    greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
    
    TARGET = pcltest
    TEMPLATE = app
    
    # The following define makes your compiler emit warnings if you use
    # any feature of Qt which has been marked as deprecated (the exact warnings
    # depend on your compiler). Please consult the documentation of the
    # deprecated API in order to know how to port your code away from it.
    DEFINES += QT_DEPRECATED_WARNINGS
    
    # You can also make your code fail to compile if you use deprecated APIs.
    # In order to do so, uncomment the following line.
    # You can also select to disable deprecated APIs only up to a certain version of Qt.
    #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
    
    CONFIG += c++11
    
    SOURCES += \
            main.cpp \
            mainwindow.cpp
    
    HEADERS += \
            mainwindow.h
    
    FORMS += \
            mainwindow.ui
    
    INCLUDEPATH += E:/pcl1.8.1/PCL1.8.1/include/pcl-1.8\
    INCLUDEPATH += E:/pcl1.8.1/PCL1.8.1/include/pcl-1.8/pcl\
    INCLUDEPATH += E:/pcl1.8.1/PCL1.8.1/3rdParty/Boost/include/boost-1_64\
    INCLUDEPATH += E:/pcl1.8.1/PCL1.8.1/3rdParty/Eigen/eigen3\
    INCLUDEPATH += E:/pcl1.8.1/PCL1.8.1/3rdParty/FLANN/include\
    INCLUDEPATH += E:/pcl1.8.1/PCL1.8.1/3rdParty/FLANN/include/flann\
    INCLUDEPATH += E:/pcl1.8.1/PCL1.8.1/3rdParty/OpenNI2/Include\
    INCLUDEPATH += E:/pcl1.8.1/PCL1.8.1/3rdParty/Qhull/include\
    INCLUDEPATH += E:/pcl1.8.1/PCL1.8.1/3rdParty/VTK/include/vtk-8.0\
    
    CONFIG(debug,debug|release){
    LIBS += -LE:/pcl1.8.1/PCL1.8.1/lib\
    -lpcl_common_debug\
    -lpcl_features_debug\
    -lpcl_filters_debug\
    -lpcl_io_debug\
    -lpcl_io_ply_debug\
    -lpcl_kdtree_debug\
    -lpcl_keypoints_debug\
    -lpcl_ml_debug\
    -lpcl_octree_debug\
    -lpcl_outofcore_debug\
    -lpcl_people_debug\
    -lpcl_recognition_debug\
    -lpcl_registration_debug\
    -lpcl_sample_consensus_debug\
    -lpcl_search_debug\
    -lpcl_segmentation_debug\
    -lpcl_stereo_debug\
    -lpcl_surface_debug\
    -lpcl_tracking_debug\
    -lpcl_visualization_debug
    
    LIBS += -LE:/pcl1.8.1/PCL1.8.1/3rdParty/Boost/lib\
    -llibboost_atomic-vc140-mt-gd-1_64\
    -llibboost_bzip2-vc140-mt-gd-1_64\
    -llibboost_chrono-vc140-mt-gd-1_64\
    -llibboost_container-vc140-mt-gd-1_64\
    -llibboost_context-vc140-mt-gd-1_64\
    -llibboost_coroutine-vc140-mt-gd-1_64\
    -llibboost_date_time-vc140-mt-gd-1_64\
    -llibboost_exception-vc140-mt-gd-1_64\
    -llibboost_fiber-vc140-mt-gd-1_64\
    -llibboost_filesystem-vc140-mt-gd-1_64\
    -llibboost_graph-vc140-mt-gd-1_64\
    -llibboost_graph_parallel-vc140-mt-gd-1_64\
    -llibboost_iostreams-vc140-mt-gd-1_64\
    -llibboost_locale-vc140-mt-gd-1_64\
    -llibboost_log-vc140-mt-gd-1_64\
    -llibboost_log_setup-vc140-mt-gd-1_64\
    -llibboost_math_c99-vc140-mt-gd-1_64\
    -llibboost_math_c99f-vc140-mt-gd-1_64\
    -llibboost_math_c99l-vc140-mt-gd-1_64\
    -llibboost_math_tr1-vc140-mt-gd-1_64\
    -llibboost_math_tr1f-vc140-mt-gd-1_64\
    -llibboost_math_tr1l-vc140-mt-gd-1_64\
    -llibboost_mpi-vc140-mt-gd-1_64\
    -llibboost_numpy-vc140-mt-gd-1_64\
    -llibboost_numpy3-vc140-mt-gd-1_64\
    -llibboost_prg_exec_monitor-vc140-mt-gd-1_64\
    -llibboost_program_options-vc140-mt-gd-1_64\
    -llibboost_python-vc140-mt-gd-1_64\
    -llibboost_python3-vc140-mt-gd-1_64\
    -llibboost_random-vc140-mt-gd-1_64\
    -llibboost_regex-vc140-mt-gd-1_64\
    -llibboost_serialization-vc140-mt-gd-1_64\
    -llibboost_signals-vc140-mt-gd-1_64\
    -llibboost_system-vc140-mt-gd-1_64\
    -llibboost_test_exec_monitor-vc140-mt-gd-1_64\
    -llibboost_thread-vc140-mt-gd-1_64\
    -llibboost_timer-vc140-mt-gd-1_64\
    -llibboost_type_erasure-vc140-mt-gd-1_64\
    -llibboost_unit_test_framework-vc140-mt-gd-1_64\
    -llibboost_wave-vc140-mt-gd-1_64\
    -llibboost_wserialization-vc140-mt-gd-1_64\
    -llibboost_zlib-vc140-mt-gd-1_64
    
    LIBS += -LE:/pcl1.8.1/PCL1.8.1/3rdParty/FLANN/lib\
    -lflann-gd\
    -lflann_cpp-gd\
    -lflann_cpp_s-gd\
    -lflann_s-gd
    
    LIBS += -LE:/pcl1.8.1/PCL1.8.1/3rdParty/OpenNI2/Lib\
            -lOpenNI2
    
    LIBS += -LE:/pcl1.8.1/PCL1.8.1/3rdParty/Qhull/lib\
    -lqhullcpp_d\
    -lqhullstatic_d\
    -lqhullstatic_r_d\
    -lqhull_d\
    -lqhull_p_d\
    -lqhull_r_d\
    
    LIBS += -LE:/pcl1.8.1/PCL1.8.1/3rdParty/VTK/lib\
    -lvtkalglib-8.0-gd\
    -lvtkChartsCore-8.0-gd\
    -lvtkCommonColor-8.0-gd\
    -lvtkCommonComputationalGeometry-8.0-gd\
    -lvtkCommonCore-8.0-gd\
    -lvtkCommonDataModel-8.0-gd\
    -lvtkCommonExecutionModel-8.0-gd\
    -lvtkCommonMath-8.0-gd\
    -lvtkCommonMisc-8.0-gd\
    -lvtkCommonSystem-8.0-gd\
    -lvtkCommonTransforms-8.0-gd\
    -lvtkDICOMParser-8.0-gd\
    -lvtkDomainsChemistry-8.0-gd\
    -lvtkexoIIc-8.0-gd\
    -lvtkexpat-8.0-gd\
    -lvtkFiltersAMR-8.0-gd\
    -lvtkFiltersCore-8.0-gd\
    -lvtkFiltersExtraction-8.0-gd\
    -lvtkFiltersFlowPaths-8.0-gd\
    -lvtkFiltersGeneral-8.0-gd\
    -lvtkFiltersGeneric-8.0-gd\
    -lvtkFiltersGeometry-8.0-gd\
    -lvtkFiltersHybrid-8.0-gd\
    -lvtkFiltersHyperTree-8.0-gd\
    -lvtkFiltersImaging-8.0-gd\
    -lvtkFiltersModeling-8.0-gd\
    -lvtkFiltersParallel-8.0-gd\
    -lvtkFiltersParallelImaging-8.0-gd\
    -lvtkFiltersPoints-8.0-gd\
    -lvtkFiltersProgrammable-8.0-gd\
    -lvtkFiltersSelection-8.0-gd\
    -lvtkFiltersSMP-8.0-gd\
    -lvtkFiltersSources-8.0-gd\
    -lvtkFiltersStatistics-8.0-gd\
    -lvtkFiltersTexture-8.0-gd\
    -lvtkFiltersTopology-8.0-gd\
    -lvtkFiltersVerdict-8.0-gd\
    -lvtkfreetype-8.0-gd\
    -lvtkGeovisCore-8.0-gd\
    -lvtkgl2ps-8.0-gd\
    -lvtkGUISupportQt-8.0-gd\
    -lvtkGUISupportQtOpenGL-8.0-gd\
    -lvtkGUISupportQtSQL-8.0-gd\
    -lvtkhdf5-8.0-gd\
    -lvtkhdf5_hl-8.0-gd\
    -lvtkImagingColor-8.0-gd\
    -lvtkImagingCore-8.0-gd\
    -lvtkImagingFourier-8.0-gd\
    -lvtkImagingGeneral-8.0-gd\
    -lvtkImagingHybrid-8.0-gd\
    -lvtkImagingMath-8.0-gd\
    -lvtkImagingMorphological-8.0-gd\
    -lvtkImagingSources-8.0-gd\
    -lvtkImagingStatistics-8.0-gd\
    -lvtkImagingStencil-8.0-gd\
    -lvtkInfovisCore-8.0-gd\
    -lvtkInfovisLayout-8.0-gd\
    -lvtkInteractionImage-8.0-gd\
    -lvtkInteractionStyle-8.0-gd\
    -lvtkInteractionWidgets-8.0-gd\
    -lvtkIOAMR-8.0-gd\
    -lvtkIOCore-8.0-gd\
    -lvtkIOEnSight-8.0-gd\
    -lvtkIOExodus-8.0-gd\
    -lvtkIOExport-8.0-gd\
    -lvtkIOExportOpenGL-8.0-gd\
    -lvtkIOGeometry-8.0-gd\
    -lvtkIOImage-8.0-gd\
    -lvtkIOImport-8.0-gd\
    -lvtkIOInfovis-8.0-gd\
    -lvtkIOLegacy-8.0-gd\
    -lvtkIOLSDyna-8.0-gd\
    -lvtkIOMINC-8.0-gd\
    -lvtkIOMovie-8.0-gd\
    -lvtkIONetCDF-8.0-gd\
    -lvtkIOParallel-8.0-gd\
    -lvtkIOParallelXML-8.0-gd\
    -lvtkIOPLY-8.0-gd\
    -lvtkIOSQL-8.0-gd\
    -lvtkIOTecplotTable-8.0-gd\
    -lvtkIOVideo-8.0-gd\
    -lvtkIOXML-8.0-gd\
    -lvtkIOXMLParser-8.0-gd\
    -lvtkjpeg-8.0-gd\
    -lvtkjsoncpp-8.0-gd\
    -lvtklibharu-8.0-gd\
    -lvtklibxml2-8.0-gd\
    -lvtklz4-8.0-gd\
    -lvtkmetaio-8.0-gd\
    -lvtkNetCDF-8.0-gd\
    -lvtknetcdf_c++-gd\
    -lvtkoggtheora-8.0-gd\
    -lvtkParallelCore-8.0-gd\
    -lvtkpng-8.0-gd\
    -lvtkproj4-8.0-gd\
    -lvtkRenderingAnnotation-8.0-gd\
    -lvtkRenderingContext2D-8.0-gd\
    -lvtkRenderingContextOpenGL-8.0-gd\
    -lvtkRenderingCore-8.0-gd\
    -lvtkRenderingFreeType-8.0-gd\
    -lvtkRenderingGL2PS-8.0-gd\
    -lvtkRenderingImage-8.0-gd\
    -lvtkRenderingLabel-8.0-gd\
    -lvtkRenderingLIC-8.0-gd\
    -lvtkRenderingLOD-8.0-gd\
    -lvtkRenderingOpenGL-8.0-gd\
    -lvtkRenderingQt-8.0-gd\
    -lvtkRenderingVolume-8.0-gd\
    -lvtkRenderingVolumeOpenGL-8.0-gd\
    -lvtksqlite-8.0-gd\
    -lvtksys-8.0-gd\
    -lvtktiff-8.0-gd\
    -lvtkverdict-8.0-gd\
    -lvtkViewsContext2D-8.0-gd\
    -lvtkViewsCore-8.0-gd\
    -lvtkViewsInfovis-8.0-gd\
    -lvtkViewsQt-8.0-gd\
    -lvtkzlib-8.0-gd
    
    } else {
    LIBS += -LE:/pcl1.8.1/PCL1.8.1/lib\
    -lpcl_common_release\
    -lpcl_features_release\
    -lpcl_filters_release\
    -lpcl_io_ply_release\
    -lpcl_io_release\
    -lpcl_kdtree_release\
    -lpcl_keypoints_release\
    -lpcl_ml_release\
    -lpcl_octree_release\
    -lpcl_outofcore_release\
    -lpcl_people_release\
    -lpcl_recognition_release\
    -lpcl_registration_release\
    -lpcl_sample_consensus_release\
    -lpcl_search_release\
    -lpcl_segmentation_release\
    -lpcl_stereo_release\
    -lpcl_surface_release\
    -lpcl_tracking_release\
    -lpcl_visualization_release
    
    LIBS += -LE:/pcl1.8.1/PCL1.8.1/3rdParty/Boost/lib\
    -llibboost_atomic-vc140-mt-1_64\
    -llibboost_bzip2-vc140-mt-1_64\
    -llibboost_chrono-vc140-mt-1_64\
    -llibboost_container-vc140-mt-1_64\
    -llibboost_context-vc140-mt-1_64\
    -llibboost_coroutine-vc140-mt-1_64\
    -llibboost_date_time-vc140-mt-1_64\
    -llibboost_exception-vc140-mt-1_64\
    -llibboost_fiber-vc140-mt-1_64\
    -llibboost_filesystem-vc140-mt-1_64\
    -llibboost_graph-vc140-mt-1_64\
    -llibboost_graph_parallel-vc140-mt-1_64\
    -llibboost_iostreams-vc140-mt-1_64\
    -llibboost_locale-vc140-mt-1_64\
    -llibboost_log-vc140-mt-1_64\
    -llibboost_log_setup-vc140-mt-1_64\
    -llibboost_math_c99-vc140-mt-1_64\
    -llibboost_math_c99f-vc140-mt-1_64\
    -llibboost_math_c99l-vc140-mt-1_64\
    -llibboost_math_tr1-vc140-mt-1_64\
    -llibboost_math_tr1f-vc140-mt-1_64\
    -llibboost_math_tr1l-vc140-mt-1_64\
    -llibboost_mpi-vc140-mt-1_64\
    -llibboost_numpy-vc140-mt-1_64\
    -llibboost_numpy3-vc140-mt-1_64\
    -llibboost_prg_exec_monitor-vc140-mt-1_64\
    -llibboost_program_options-vc140-mt-1_64\
    -llibboost_python-vc140-mt-1_64\
    -llibboost_python3-vc140-mt-1_64\
    -llibboost_random-vc140-mt-1_64\
    -llibboost_regex-vc140-mt-1_64\
    -llibboost_serialization-vc140-mt-1_64\
    -llibboost_signals-vc140-mt-1_64\
    -llibboost_system-vc140-mt-1_64\
    -llibboost_test_exec_monitor-vc140-mt-1_64\
    -llibboost_thread-vc140-mt-1_64\
    -llibboost_timer-vc140-mt-1_64\
    -llibboost_type_erasure-vc140-mt-1_64\
    -llibboost_unit_test_framework-vc140-mt-1_64\
    -llibboost_wave-vc140-mt-1_64\
    -llibboost_wserialization-vc140-mt-1_64\
    -llibboost_zlib-vc140-mt-1_64
    
    LIBS += -LE:/pcl1.8.1/PCL1.8.1/3rdParty/FLANN/lib\
            -lflann\
            -lflann_cpp_s\
            -lflann_s
    
    LIBS += -LE:/pcl1.8.1/PCL1.8.1/3rdParty/OpenNI2/Lib\
            -lOpenNI2
    
    LIBS += -LE:/pcl1.8.1/PCL1.8.1/3rdParty/Qhull/lib\
            -lqhull\
            -lqhullcpp\
            -lqhullstatic\
            -lqhullstatic_r\
            -lqhull_p\
            -lqhull_r
    
    LIBS += -LE:/pcl1.8.1/PCL1.8.1/3rdParty/VTK/lib\
    }
    
    
    INCLUDEPATH += $$PWD/opencv-4.1.0/include\
                   $$PWD/opencv-4.1.0/include/opencv2
    
    LIBS += -L$$PWD\opencv-4.1.0\x64\vc16\lib\
    -lopencv_world410d\
    -lopencv_img_hash410d
    
    # -lopencv_aruco320d\
    #                                                            -lopencv_bgsegm320d\
    #                                                            -lopencv_bioinspired320d\
    #                                                            -lopencv_calib3d320d\
    #                                                            -lopencv_ccalib320d\
    #                                                            -lopencv_core320d\
    #                                                            -lopencv_datasets320d\
    #                                                            -lopencv_dnn320d\
    #                                                            -lopencv_dpm320d\
    #                                                            -lopencv_face320d\
    #                                                            -lopencv_features2d320d\
    #                                                            -lopencv_flann320d\
    #                                                            -lopencv_fuzzy320d\
    #                                                            -lopencv_highgui320d\
    #                                                            -lopencv_imgcodecs320d\
    #                                                            -lopencv_imgproc320d\
    #                                                            -lopencv_line_descriptor320d\
    #                                                            -lopencv_ml320d\
    #                                                            -lopencv_objdetect320d\
    #                                                            -lopencv_optflow320d\
    #                                                            -lopencv_phase_unwrapping320d\
    #                                                            -lopencv_photo320d\
    #                                                            -lopencv_plot320d\
    #                                                            -lopencv_reg320d\
    #                                                            -lopencv_rgbd320d\
    #                                                            -lopencv_saliency320d\
    #                                                            -lopencv_shape320d\
    #                                                            -lopencv_stereo320d\
    #                                                            -lopencv_stitching320d\
    #                                                            -lopencv_structured_light320d\
    #                                                            -lopencv_superres320d\
    #                                                            -lopencv_videoio320d\
    #                                                            -lopencv_xfeatures2d320d\
    #                                                            -lkernel32\
    #                                                            -luser32\
    #                                                            -lgdi32\
    #                                                            -lwinspool\
    #                                                            -lcomdlg32\
    #                                                            -ladvapi32\
    #                                                            -lshell32\
    #                                                            -lole32\
    #                                                            -loleaut32\
    #                                                            -luuid\
    #                                                            -lodbc32\
    #                                                            -lodbccp32
    
    # Default rules for deployment.
    win32-msvc*:QMAKE_CXXFLAGS += /wd"4819"
    qnx: target.path = /tmp/$${TARGET}/bin
    else: unix:!android: target.path = /opt/$${TARGET}/bin
    !isEmpty(target.path): INSTALLS += target

# 第四、解决程序运行崩溃问题 #

当我们配置完成后，如果编译不报错，但是一运行就崩溃。原因可能是dll文件没有添加。

首先，确认系统环境变量的PATH是否添加前面图的路径；

第二，将所有dll文件（pcl,vtk,eigen,FLANN，OpenNI2,Qhull）等放到C:\\Windows\\System32下。

[PCL_VTK_windows]: https://blog.csdn.net/kissgoodbye2012/article/details/103644297
[PCL]: https://blog.csdn.net/kissgoodbye2012/article/details/103657487
[PCL_VTK]: https://market.m.taobao.com/app/idleFish-F2e/widle-taobao-rax/page-detail?wh_weex=true&wx_navbar_transparent=true&id=609983409501&ut_sk=1.AAhiIP37iQwDANlHHj81FWR6_21407387_1577024438216.Copy.detail.609983409501.1030106470&forceFlush=1
[qt]: https://market.m.taobao.com/app/idleFish-F2e/widle-taobao-rax/page-detail?wh_weex=true&wx_navbar_transparent=true&id=610270833284&ut_sk=1.AAhiIP37iQwDANlHHj81FWR6_21407387_1577024438216.Copy.detail.610270833284.1030106470&forceFlush=1
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