PCL1.8.0+VS2013+Win10配置

说明

• 欢迎进群探讨 PCL 的更多问题

QQ群号&＃xff1a;190162198
QQ群名&＃xff1a;PCL点云部落

PCL1.8.0&＃43;VS2013&＃43;Win10 配置

配置环境前需要准备的工具有&＃xff1a;

• PCL-1.8.0-AllInOne-msvc2013-win32 或者 PCL-1.8.0-AllInOne-msvc2013-win64
• VS2013
• Qt(可选)

注&＃xff1a;本文是在 64 位操作系统下进行安装操作的&＃xff01;包括PCL的安装也是 64 位的&＃xff01;

注&＃xff1a;以上软件均可在QQ群获取

下载完成后开始安装吧~~~

第一步&＃xff1a;PCL 的安装

注意事项&＃xff1a;

• 安装位置 默认安装在C盘&＃xff0c;修改位置到其他盘符&＃xff0c;作者使用 D:\PCL1.8\ 进行安装
• 中途弹出安装OpenNI的安装选项 安装到 D:\PCL1.8\PCL 1.8.0\3rdParty\OpenNI2 目录下
• 直到安装完成 …

第二步&＃xff1a;环境变量的配置

首先打开环境变量设置界面&＃xff1a;此电脑->右键属性->高级系统变量->环境变量->系统变量&＃xff1a;

该3项是在安装完成后自动生成的&＃xff0c;同理&＃xff1a;

该项也是自动生成的。我们需要做的是&＃xff1a;选中系统变量中的Path&＃xff0c;选择编辑&＃xff0c;然后添加以下5条&＃xff1a;

在这里直接给出&＃xff0c;防止出现错误&＃xff08;依次添加&＃xff09;&＃xff1a;

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

到此&＃xff0c;环境变量的配置完成。

第三步&＃xff1a;新建一个 x64 的控制台项目

首先&＃xff0c;新建一个空项目&＃xff1a;打开VS2013->文件>新建>项目。

新建一个空 Win 32 项目&＃xff1a;注意是Win 32 控制台项目。

将项目属性切换为 64 位&＃xff1a;项目右键->属性->配置管理器->下拉菜单选择新建。

然后选择 x64 &＃xff0c;单击确定后&＃xff0c;在配置管理器界面点击确定&＃xff0c;退出配置管理器。

至此&＃xff0c;完成 64 位平台的更改。

第四步&＃xff1a;包含目录、库目录、附加依赖项的配置

首先&＃xff0c;打开属性管理器&＃xff1a;视图->*其他窗口->属性管理器。

然后选择 Debug | x64 &＃xff1a;右键->添加新项目属性表&＃xff0c;命名为 PCL &＃xff0c;最终结果如黄色椭圆形所示。

包含目录的编辑&＃xff1a;选择新建的PCL->右键属性->通用属性->VC&＃43;&＃43;目录->包含目录&＃xff0c;添加如下&＃xff1a;

还是&＃xff0c;为了方便&＃xff0c;将包含目录添加项贴出&＃xff1a;

D:\PCL1.8\PCL 1.8.0\include\pcl-1.8
D:\PCL1.8\PCL 1.8.0\3rdParty\Boost\include\boost-1_59
D:\PCL1.8\PCL 1.8.0\3rdParty\Qhull\include
D:\PCL1.8\PCL 1.8.0\3rdParty\FLANN\include
D:\PCL1.8\PCL 1.8.0\3rdParty\VTK\include\vtk-7.0
D:\PCL1.8\PCL 1.8.0\3rdParty\Eigen\eigen3

库目录的编辑&＃xff1a;选择新建的PCL->右键属性->通用属性->VC&＃43;&＃43;目录->库目录&＃xff0c;添加如下&＃xff1a;

将库目录的添加项贴出&＃xff1a;

D:\PCL1.8\PCL 1.8.0\3rdParty\VTK\lib
D:\PCL1.8\PCL 1.8.0\3rdParty\FLANN\lib
D:\PCL1.8\PCL 1.8.0\3rdParty\Qhull\lib
D:\PCL1.8\PCL 1.8.0\3rdParty\Boost\lib
D:\PCL1.8\PCL 1.8.0\lib

附加依赖项的编辑&＃xff1a;选择新建的PCL->右键属性->通用属性->链接器->输入->附加依赖项&＃xff0c;添加如下&＃xff1a;

将附加依赖项的添加项贴出&＃xff08;略多&＃xff09;&＃xff1a;

pcl_apps_debug.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_simulation_debug.lib
pcl_stereo_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
pcl_visualization_debug.lib
libboost_atomic-vc120-mt-gd-1_59.lib
libboost_chrono-vc120-mt-gd-1_59.lib
libboost_container-vc120-mt-gd-1_59.lib
libboost_context-vc120-mt-gd-1_59.lib
libboost_coroutine-vc120-mt-gd-1_59.lib
libboost_date_time-vc120-mt-gd-1_59.lib
libboost_exception-vc120-mt-gd-1_59.lib
libboost_filesystem-vc120-mt-gd-1_59.lib
libboost_graph-vc120-mt-gd-1_59.lib
libboost_iostreams-vc120-mt-gd-1_59.lib
libboost_locale-vc120-mt-gd-1_59.lib
libboost_log-vc120-mt-gd-1_59.lib
libboost_log_setup-vc120-mt-gd-1_59.lib
libboost_math_c99-vc120-mt-gd-1_59.lib
libboost_math_c99f-vc120-mt-gd-1_59.lib
libboost_math_c99l-vc120-mt-gd-1_59.lib
libboost_math_tr1-vc120-mt-gd-1_59.lib
libboost_math_tr1f-vc120-mt-gd-1_59.lib
libboost_math_tr1l-vc120-mt-gd-1_59.lib
libboost_mpi-vc120-mt-gd-1_59.lib
libboost_prg_exec_monitor-vc120-mt-gd-1_59.lib
libboost_program_options-vc120-mt-gd-1_59.lib
libboost_random-vc120-mt-gd-1_59.lib
libboost_regex-vc120-mt-gd-1_59.lib
libboost_serialization-vc120-mt-gd-1_59.lib
libboost_signals-vc120-mt-gd-1_59.lib
libboost_system-vc120-mt-gd-1_59.lib
libboost_test_exec_monitor-vc120-mt-gd-1_59.lib
libboost_thread-vc120-mt-gd-1_59.lib
libboost_timer-vc120-mt-gd-1_59.lib
libboost_unit_test_framework-vc120-mt-gd-1_59.lib
libboost_wave-vc120-mt-gd-1_59.lib
libboost_wserialization-vc120-mt-gd-1_59.lib
flann-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
qhull-gd.lib
qhullcpp-gd.lib
qhullstatic-gd.lib
qhullstatic_r-gd.lib
qhull_p-gd.lib
qhull_r-gd.lib
vtkalglib-7.0-gd.lib
vtkChartsCore-7.0-gd.lib
vtkCommonColor-7.0-gd.lib
vtkCommonComputationalGeometry-7.0-gd.lib
vtkCommonCore-7.0-gd.lib
vtkCommonDataModel-7.0-gd.lib
vtkCommonExecutionModel-7.0-gd.lib
vtkCommonMath-7.0-gd.lib
vtkCommonMisc-7.0-gd.lib
vtkCommonSystem-7.0-gd.lib
vtkCommonTransforms-7.0-gd.lib
vtkDICOMParser-7.0-gd.lib
vtkDomainsChemistry-7.0-gd.lib
vtkDomainsChemistryOpenGL2-7.0-gd.lib
vtkexoIIc-7.0-gd.lib
vtkexpat-7.0-gd.lib
vtkFiltersAMR-7.0-gd.lib
vtkFiltersCore-7.0-gd.lib
vtkFiltersExtraction-7.0-gd.lib
vtkFiltersFlowPaths-7.0-gd.lib
vtkFiltersGeneral-7.0-gd.lib
vtkFiltersGeneric-7.0-gd.lib
vtkFiltersGeometry-7.0-gd.lib
vtkFiltersHybrid-7.0-gd.lib
vtkFiltersHyperTree-7.0-gd.lib
vtkFiltersImaging-7.0-gd.lib
vtkFiltersModeling-7.0-gd.lib
vtkFiltersParallel-7.0-gd.lib
vtkFiltersParallelImaging-7.0-gd.lib
vtkFiltersProgrammable-7.0-gd.lib
vtkFiltersSelection-7.0-gd.lib
vtkFiltersSMP-7.0-gd.lib
vtkFiltersSources-7.0-gd.lib
vtkFiltersStatistics-7.0-gd.lib
vtkFiltersTexture-7.0-gd.lib
vtkFiltersVerdict-7.0-gd.lib
vtkfreetype-7.0-gd.lib
vtkGeovisCore-7.0-gd.lib
vtkglew-7.0-gd.lib
vtkGUISupportQt-7.0-gd.lib
vtkGUISupportQtSQL-7.0-gd.lib
vtkhdf5-7.0-gd.lib
vtkhdf5_hl-7.0-gd.lib
vtkImagingColor-7.0-gd.lib
vtkImagingCore-7.0-gd.lib
vtkImagingFourier-7.0-gd.lib
vtkImagingGeneral-7.0-gd.lib
vtkImagingHybrid-7.0-gd.lib
vtkImagingMath-7.0-gd.lib
vtkImagingMorphological-7.0-gd.lib
vtkImagingSources-7.0-gd.lib
vtkImagingStatistics-7.0-gd.lib
vtkImagingStencil-7.0-gd.lib
vtkInfovisCore-7.0-gd.lib
vtkInfovisLayout-7.0-gd.lib
vtkInteractionImage-7.0-gd.lib
vtkInteractionStyle-7.0-gd.lib
vtkInteractionWidgets-7.0-gd.lib
vtkIOAMR-7.0-gd.lib
vtkIOCore-7.0-gd.lib
vtkIOEnSight-7.0-gd.lib
vtkIOExodus-7.0-gd.lib
vtkIOExport-7.0-gd.lib
vtkIOGeometry-7.0-gd.lib
vtkIOImage-7.0-gd.lib
vtkIOImport-7.0-gd.lib
vtkIOInfovis-7.0-gd.lib
vtkIOLegacy-7.0-gd.lib
vtkIOLSDyna-7.0-gd.lib
vtkIOMINC-7.0-gd.lib
vtkIOMovie-7.0-gd.lib
vtkIONetCDF-7.0-gd.lib
vtkIOParallel-7.0-gd.lib
vtkIOParallelXML-7.0-gd.lib
vtkIOPLY-7.0-gd.lib
vtkIOSQL-7.0-gd.lib
vtkIOVideo-7.0-gd.lib
vtkIOXML-7.0-gd.lib
vtkIOXMLParser-7.0-gd.lib
vtkjpeg-7.0-gd.lib
vtkjsoncpp-7.0-gd.lib
vtklibxml2-7.0-gd.lib
vtkmetaio-7.0-gd.lib
vtkNetCDF-7.0-gd.lib
vtkNetCDF_cxx-7.0-gd.lib
vtkoggtheora-7.0-gd.lib
vtkParallelCore-7.0-gd.lib
vtkpng-7.0-gd.lib
vtkproj4-7.0-gd.lib
vtkRenderingAnnotation-7.0-gd.lib
vtkRenderingContext2D-7.0-gd.lib
vtkRenderingContextOpenGL2-7.0-gd.lib
vtkRenderingCore-7.0-gd.lib
vtkRenderingFreeType-7.0-gd.lib
vtkRenderingImage-7.0-gd.lib
vtkRenderingLabel-7.0-gd.lib
vtkRenderingLOD-7.0-gd.lib
vtkRenderingOpenGL2-7.0-gd.lib
vtkRenderingQt-7.0-gd.lib
vtkRenderingVolume-7.0-gd.lib
vtkRenderingVolumeOpenGL2-7.0-gd.lib
vtksqlite-7.0-gd.lib
vtksys-7.0-gd.lib
vtktiff-7.0-gd.lib
vtkverdict-7.0-gd.lib
vtkViewsContext2D-7.0-gd.lib
vtkViewsCore-7.0-gd.lib
vtkViewsInfovis-7.0-gd.lib
vtkViewsQt-7.0-gd.lib
vtkzlib-7.0-gd.lib

注&＃xff1a;以上附加依赖项只针对 PCL1.8.0 &＃xff01;

第五步&＃xff1a;项目环境目录配置

项目->右键->属性->配置属性->调试->环境&＃xff1a;

贴出环境目录配置&＃xff1a;

PATH&＃61;$(PCL_ROOT)\bin;$(PCL_ROOT)\3rdParty\FLANN\bin;$(PCL_ROOT)\3rdParty\VTK\bin;$(PCL_ROOT)\Qhull\bin;$(PCL_ROOT)\3rdParty\OpenNI2\Tools;$(PATH)


第六步&＃xff1a;测试是否配置成功

新建一个 main.cpp &＃xff0c;输入以下代码&＃xff1a;

#include
#include
#include
#include int user_data;void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{viewer.setBackgroundColor(1.0, 0.5, 1.0);pcl::PointXYZ o;o.x &＃61; 1.0;o.y &＃61; 0;o.z &＃61; 0;viewer.addSphere(o, 0.25, "sphere", 0);std::cout << "i only run once" << std::endl;}void viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
{static unsigned count &＃61; 0;std::stringstream ss;ss << "Once per viewer loop: " << count&＃43;&＃43;;viewer.removeShape("text", 0);viewer.addText(ss.str(), 200, 300, "text", 0);//FIXME: possible race condition here:user_data&＃43;&＃43;;
}int main()
{pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);pcl::io::loadPCDFile("my_point_cloud.pcd", *cloud);pcl::visualization::CloudViewer viewer("Cloud Viewer");//blocks until the cloud is actually renderedviewer.showCloud(cloud);//use the following functions to get access to the underlying more advanced/powerful//PCLVisualizer//This will only get called onceviewer.runOnVisualizationThreadOnce(viewerOneOff);//This will get called once per visualization iterationviewer.runOnVisualizationThread(viewerPsycho);while (!viewer.wasStopped()){//you can also do cool processing here//FIXME: Note that this is running in a separate thread from viewerPsycho//and you should guard against race conditions yourself...user_data&＃43;&＃43;;}return 0;
}


Ctrl &＃43; F5 进行调试&＃xff0c;若出现如下界面&＃xff0c;则表示配置成功&＃xff0c;其中&＃xff1a;通过鼠标移动可以调整圆球方位&＃xff0c;滚轮可以进行放大缩小操作。

第七步&＃xff1a;导出配置

如果测试成功&＃xff0c;那么就恭喜了~~~然后将我们配置的 PCL.props 上右键&＃xff0c;保存PCL&＃xff0c;将其导出到本地&＃xff0c;以后在做相关工程时&＃xff0c;直接在 Debug | x64 下将 PCL.props 添加进来即可。

至此&＃xff0c;配置完成~~~

个人心得体会&＃xff1a;PCL 程序还是很耗CPU的&＃xff0c;博主用的 Intel i7-7700 CPU&＃xff0c;8G 内存&＃xff0c;运行该程序时&＃xff0c;CPU 占到40%&＃xff0c;CPU 温度 50℃&＃xff0c;内存55%&＃xff0c;清大家注意&＃xff0c;配置一款强悍的独立显卡还是必要的&＃xff01;

常见问题汇总

问题&＃xff11;&＃xff1a;VS 安装失败&＃xff1f;

方案一&＃xff1a;之前是否安装过其他VS版本&＃xff1f;如果是&＃xff0c;清先卸载其他版本&＃xff0c;重新安装

方案二&＃xff1a;其他未知原因&＃xff1f;清重装系统&＃xff08;哈哈&＃xff09;

问题&＃xff12;&＃xff1a;PCL 安装失败&＃xff1f;

方案&＃xff1a;这个就很尴尬了&＃xff0c;解决方法&＃xff1a;未知。。。

问题&＃xff13;&＃xff1a;提示缺少 pcl_common_debug.dll、pcl_io_debug.dll、pcl_visualization_debug.dll、vtkCommonCore-7.0-gd.dll&＃xff1f;

方案一&＃xff1a;重启VS

方案二&＃xff1a;重启电脑

问题4&＃xff1a;其他

…

参考博客

1. Summit_Yue&＃xff1a;Windows10下VS2013&＃43;PCL1.8环境配置

2. lvei_jenny&＃xff1a;vs &＃43;pcl 配置问题

3. cc_sunny&＃xff1a;关于PCL的那些事——环境搭配(PCL1.8 64bitWIN8.1 VS2013)

4. ideallic&＃xff1a;PCL1.8.0&＃43;VS2013配置教程

5. …