电脑环境PCL配置及VS2019环境配置_pcl allinone与pdb区别

 

• VS2019配置pcl环境与测试

2.1 VS2019配置环境

意思就是在VS2019中可以调用点云库里的函数以及功能，实现对点云的数据处理。接下来分步骤讲解怎么配置。

首先打开安装好的VS2019，建立一个空项目如图16所示。我的空项目命名为PCLelement，然后在源文件下添加一个空项目。然后右击打开PCLelement选择属性，出现如图17所示界面，然后将配置改成Debug，平台改成x64。接着点击配置属性——调试——环境，在环境中添加如下路径。

PATH=D:\PCL1.12.0\\bin;

D:\PCL1.12.0\\3rdParty\FLANN\bin;

D:\PCL1.12.0\\3rdParty\VTK\bin;

D:\PCL 1.12.0\\3rdParty\OpenNI2\Tools

 

图 16

 

图 17

接着打开C/C++选项选择语言，将符合模式改成否，如图18所示。接着所有选项中SDL检查也改成否。如图19所示。

 

图 18

 

图 19

这是项目的属性就已经配好了，但是还没有加入pcl的库，为了以后使用方便，不用每次打开一个需要pcl的新项目都要加入一次pcl库，我接下来介绍的方法就是保存一个这样的属性，可以随时调用的。选择VS2019界面中的视图——其他视图——属性管理器，打开如下图20所示界面。我先配置debug环境，一般在学校里自己用的配置的都是debug环境，在公司里开源的就用release环境。所以点开debug,然后右击选择添加新的项目，保存为PCL1.12.0（文件命名随意，为了方便后面调用比较明白，所以命名为这个）。接着双击打开PCL1.12.0属性页。

 

图 20

添加包含目录：VC++目录——包含目录——点击右列，出现一个下拉列表，点击后出现编辑，点击进入。

 

图 21

D:\PCL 1.12.0\include\pcl-1.12

D:\PCL 1.12.0\3rdParty\Boost\include\boost-1_76

D:\PCL 1.12.0\3rdParty\Eigen\eigen3

D:\PCL 1.12.0\3rdParty\FLANN\include

D:\PCL 1.12.0\3rdParty\Qhull\include

D:\PCL 1.12.0\3rdParty\VTK\include\vtk-9.0

D:\PCL 1.12.0\3rdParty\OpenNI2\Include

添加库目录：VC++目录——库目录——点击右列，出现一个下拉列表，点击后出现编辑，点击进入。

 

图 22

D:\PCL 1.12.0\lib

D:\PCL 1.12.0\3rdParty\Boost\lib

D:\PCL 1.12.0\3rdParty\FLANN\lib

D:\PCL 1.12.0\3rdParty\Qhull\lib

D:\PCL 1.12.0\3rdParty\OpenNI2\Lib

D:\PCL 1.12.0\3rdParty\VTK\lib

这里出现的问题就是一定要看清楚自己下载的pcl是什么版本的，不要胡乱粘贴复制，还有你下载的文件位置也要看清楚。

接着打开链接器——常规——附加库目录加入.lib库，和上方的一样。

 

图 23

最后就是配置附加依赖项：在链接器——输入——附加依赖项中添加如下：

 

图 24

（注意这是在debug环境下）

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

libboost_atomic-vc142-mt-gd-x64-1_76.lib

libboost_bzip2-vc142-mt-gd-x64-1_76.lib

libboost_chrono-vc142-mt-gd-x64-1_76.lib

libboost_container-vc142-mt-gd-x64-1_76.lib

libboost_context-vc142-mt-gd-x64-1_76.lib

libboost_contract-vc142-mt-gd-x64-1_76.lib

libboost_coroutine-vc142-mt-gd-x64-1_76.lib

libboost_date_time-vc142-mt-gd-x64-1_76.lib

libboost_exception-vc142-mt-gd-x64-1_76.lib

libboost_fiber-vc142-mt-gd-x64-1_76.lib

libboost_filesystem-vc142-mt-gd-x64-1_76.lib

libboost_graph-vc142-mt-gd-x64-1_76.lib

libboost_graph_parallel-vc142-mt-gd-x64-1_76.lib

libboost_iostreams-vc142-mt-gd-x64-1_76.lib

libboost_json-vc142-mt-gd-x64-1_76.lib

libboost_locale-vc142-mt-gd-x64-1_76.lib

libboost_log-vc142-mt-gd-x64-1_76.lib

libboost_log_setup-vc142-mt-gd-x64-1_76.lib

libboost_math_c99-vc142-mt-gd-x64-1_76.lib

libboost_math_c99f-vc142-mt-gd-x64-1_76.lib

libboost_math_c99l-vc142-mt-gd-x64-1_76.lib

libboost_math_tr1-vc142-mt-gd-x64-1_76.lib

libboost_math_tr1f-vc142-mt-gd-x64-1_76.lib

libboost_math_tr1l-vc142-mt-gd-x64-1_76.lib

libboost_mpi-vc142-mt-gd-x64-1_76.lib

libboost_nowide-vc142-mt-gd-x64-1_76.lib

libboost_numpy38-vc142-mt-gd-x64-1_76.lib

libboost_prg_exec_monitor-vc142-mt-gd-x64-1_76.lib

libboost_program_options-vc142-mt-gd-x64-1_76.lib

libboost_python38-vc142-mt-gd-x64-1_76.lib

libboost_random-vc142-mt-gd-x64-1_76.lib

libboost_regex-vc142-mt-gd-x64-1_76.lib

libboost_serialization-vc142-mt-gd-x64-1_76.lib

libboost_stacktrace_noop-vc142-mt-gd-x64-1_76.lib

libboost_stacktrace_windbg-vc142-mt-gd-x64-1_76.lib

libboost_stacktrace_windbg_cached-vc142-mt-gd-x64-1_76.lib

libboost_system-vc142-mt-gd-x64-1_76.lib

libboost_test_exec_monitor-vc142-mt-gd-x64-1_76.lib

libboost_thread-vc142-mt-gd-x64-1_76.lib

libboost_timer-vc142-mt-gd-x64-1_76.lib

libboost_type_erasure-vc142-mt-gd-x64-1_76.lib

libboost_unit_test_framework-vc142-mt-gd-x64-1_76.lib

libboost_wave-vc142-mt-gd-x64-1_76.lib

libboost_wserialization-vc142-mt-gd-x64-1_76.lib

libboost_zlib-vc142-mt-gd-x64-1_76.lib

flann-gd.lib

flann_cpp-gd.lib

flann_cpp_s-gd.lib

flann_s-gd.lib

qhullcpp_d.lib

qhullstatic_d.lib

qhullstatic_rd.lib

qhull_rd.lib

vtkChartsCore-9.0d.lib

vtkCommonColor-9.0d.lib

vtkCommonComputationalGeometry-9.0d.lib

vtkCommonCore-9.0d.lib

vtkCommonDataModel-9.0d.lib

vtkCommonExecutionModel-9.0d.lib

vtkCommonMath-9.0d.lib

vtkCommonMisc-9.0d.lib

vtkCommonSystem-9.0d.lib

vtkCommonTransforms-9.0d.lib

vtkDICOMParser-9.0d.lib

vtkDomainsChemistry-9.0d.lib

vtkDomainsChemistryOpenGL2-9.0d.lib

vtkdoubleconversion-9.0d.lib

vtkexodusII-9.0d.lib

vtkexpat-9.0d.lib

vtkFiltersAMR-9.0d.lib

vtkFiltersCore-9.0d.lib

vtkFiltersExtraction-9.0d.lib

vtkFiltersFlowPaths-9.0d.lib

vtkFiltersGeneral-9.0d.lib

vtkFiltersGeneric-9.0d.lib

vtkFiltersGeometry-9.0d.lib

vtkFiltersHybrid-9.0d.lib

vtkFiltersHyperTree-9.0d.lib

vtkFiltersImaging-9.0d.lib

vtkFiltersModeling-9.0d.lib

vtkFiltersParallel-9.0d.lib

vtkFiltersParallelImaging-9.0d.lib

vtkFiltersPoints-9.0d.lib

vtkFiltersProgrammable-9.0d.lib

vtkFiltersSelection-9.0d.lib

vtkFiltersSMP-9.0d.lib

vtkFiltersSources-9.0d.lib

vtkFiltersStatistics-9.0d.lib

vtkFiltersTexture-9.0d.lib

vtkFiltersTopology-9.0d.lib

vtkFiltersVerdict-9.0d.lib

vtkfreetype-9.0d.lib

vtkGeovisCore-9.0d.lib

vtkgl2ps-9.0d.lib

vtkglew-9.0d.lib

vtkhdf5-9.0d.lib

vtkhdf5_hl-9.0d.lib

vtkImagingColor-9.0d.lib

vtkImagingCore-9.0d.lib

vtkImagingFourier-9.0d.lib

vtkImagingGeneral-9.0d.lib

vtkImagingHybrid-9.0d.lib

vtkImagingMath-9.0d.lib

vtkImagingMorphological-9.0d.lib

vtkImagingSources-9.0d.lib

vtkImagingStatistics-9.0d.lib

vtkImagingStencil-9.0d.lib

vtkInfovisCore-9.0d.lib

vtkInfovisLayout-9.0d.lib

vtkInteractionImage-9.0d.lib

vtkInteractionStyle-9.0d.lib

vtkInteractionWidgets-9.0d.lib

vtkIOAMR-9.0d.lib

vtkIOAsynchronous-9.0d.lib

vtkIOCityGML-9.0d.lib

vtkIOCore-9.0d.lib

vtkIOEnSight-9.0d.lib

vtkIOExodus-9.0d.lib

vtkIOExport-9.0d.lib

vtkIOExportGL2PS-9.0d.lib

vtkIOExportPDF-9.0d.lib

vtkIOGeometry-9.0d.lib

vtkIOImage-9.0d.lib

vtkIOImport-9.0d.lib

vtkIOInfovis-9.0d.lib

vtkIOLegacy-9.0d.lib

vtkIOLSDyna-9.0d.lib

vtkIOMINC-9.0d.lib

vtkIOMotionFX-9.0d.lib

vtkIOMovie-9.0d.lib

vtkIONetCDF-9.0d.lib

vtkIOOggTheora-9.0d.lib

vtkIOParallel-9.0d.lib

vtkIOParallelXML-9.0d.lib

vtkIOPLY-9.0d.lib

vtkIOSegY-9.0d.lib

vtkIOSQL-9.0d.lib

vtkIOTecplotTable-9.0d.lib

vtkIOVeraOut-9.0d.lib

vtkIOVideo-9.0d.lib

vtkIOXML-9.0d.lib

vtkIOXMLParser-9.0d.lib

vtkjpeg-9.0d.lib

vtkjsoncpp-9.0d.lib

vtklibharu-9.0d.lib

vtklibproj-9.0d.lib

vtklibxml2-9.0d.lib

vtkloguru-9.0d.lib

vtklz4-9.0d.lib

vtklzma-9.0d.lib

vtkmetaio-9.0d.lib

vtknetcdf-9.0d.lib

vtkogg-9.0d.lib

vtkParallelCore-9.0d.lib

vtkParallelDIY-9.0d.lib

vtkpng-9.0d.lib

vtkpugixml-9.0d.lib

vtkRenderingAnnotation-9.0d.lib

vtkRenderingContext2D-9.0d.lib

vtkRenderingContextOpenGL2-9.0d.lib

vtkRenderingCore-9.0d.lib

vtkRenderingFreeType-9.0d.lib

vtkRenderingGL2PSOpenGL2-9.0d.lib

vtkRenderingImage-9.0d.lib

vtkRenderingLabel-9.0d.lib

vtkRenderingLOD-9.0d.lib

vtkRenderingOpenGL2-9.0d.lib

vtkRenderingSceneGraph-9.0d.lib

vtkRenderingUI-9.0d.lib

vtkRenderingVolume-9.0d.lib

vtkRenderingVolumeOpenGL2-9.0d.lib

vtkRenderingVtkJS-9.0d.lib

vtksqlite-9.0d.lib

vtksys-9.0d.lib

vtkTestingRendering-9.0d.lib

vtktheora-9.0d.lib

vtktiff-9.0d.lib

vtkverdict-9.0d.lib

vtkViewsContext2D-9.0d.lib

vtkViewsCore-9.0d.lib

vtkViewsInfovis-9.0d.lib

vtkWrappingTools-9.0d.lib

vtkzlib-9.0d.lib

如果是release的文件添加如下：

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

libboost_atomic-vc142-mt-x64-1_76.lib

libboost_bzip2-vc142-mt-x64-1_76.lib

libboost_chrono-vc142-mt-x64-1_76.lib

libboost_container-vc142-mt-x64-1_76.lib

libboost_context-vc142-mt-x64-1_76.lib

libboost_contract-vc142-mt-x64-1_76.lib

libboost_coroutine-vc142-mt-x64-1_76.lib

libboost_date_time-vc142-mt-x64-1_76.lib

libboost_exception-vc142-mt-x64-1_76.lib

libboost_fiber-vc142-mt-x64-1_76.lib

libboost_filesystem-vc142-mt-x64-1_76.lib

libboost_graph-vc142-mt-x64-1_76.lib

libboost_graph_parallel-vc142-mt-x64-1_76.lib

libboost_iostreams-vc142-mt-x64-1_76.lib

libboost_json-vc142-mt-x64-1_76.lib

libboost_locale-vc142-mt-x64-1_76.lib

libboost_log-vc142-mt-x64-1_76.lib

libboost_log_setup-vc142-mt-x64-1_76.lib

libboost_math_c99-vc142-mt-x64-1_76.lib

libboost_math_c99f-vc142-mt-x64-1_76.lib

libboost_math_c99l-vc142-mt-x64-1_76.lib

libboost_math_tr1-vc142-mt-x64-1_76.lib

libboost_math_tr1f-vc142-mt-x64-1_76.lib

libboost_math_tr1l-vc142-mt-x64-1_76.lib

libboost_mpi-vc142-mt-x64-1_76.lib

libboost_nowide-vc142-mt-x64-1_76.lib

libboost_numpy38-vc142-mt-x64-1_76.lib

libboost_prg_exec_monitor-vc142-mt-x64-1_76.lib

libboost_program_options-vc142-mt-x64-1_76.lib

libboost_python38-vc142-mt-x64-1_76.lib

libboost_random-vc142-mt-x64-1_76.lib

libboost_regex-vc142-mt-x64-1_76.lib

libboost_serialization-vc142-mt-x64-1_76.lib

libboost_stacktrace_noop-vc142-mt-x64-1_76.lib

libboost_stacktrace_windbg-vc142-mt-x64-1_76.lib

libboost_stacktrace_windbg_cached-vc142-mt-x64-1_76.lib

libboost_system-vc142-mt-x64-1_76.lib

libboost_test_exec_monitor-vc142-mt-x64-1_76.lib

libboost_thread-vc142-mt-x64-1_76.lib

libboost_timer-vc142-mt-x64-1_76.lib

libboost_type_erasure-vc142-mt-x64-1_76.lib

libboost_unit_test_framework-vc142-mt-x64-1_76.lib

libboost_wave-vc142-mt-x64-1_76.lib

libboost_wserialization-vc142-mt-x64-1_76.lib

libboost_zlib-vc142-mt-x64-1_76.lib

flann.lib

flann_cpp.lib

flann_cpp_s.lib

flann_s.lib

qhullcpp.lib

qhullstatic.lib

qhullstatic_r.lib

qhull_r.lib

vtkChartsCore-9.0.lib

vtkCommonColor-9.0.lib

vtkCommonComputationalGeometry-9.0.lib

vtkCommonCore-9.0.lib

vtkCommonDataModel-9.0.lib

vtkCommonExecutionModel-9.0.lib

vtkCommonMath-9.0.lib

vtkCommonMisc-9.0.lib

vtkCommonSystem-9.0.lib

vtkCommonTransforms-9.0.lib

vtkDICOMParser-9.0.lib

vtkDomainsChemistry-9.0.lib

vtkDomainsChemistryOpenGL2-9.0.lib

vtkdoubleconversion-9.0.lib

vtkexodusII-9.0.lib

vtkexpat-9.0.lib

vtkFiltersAMR-9.0.lib

vtkFiltersCore-9.0.lib

vtkFiltersExtraction-9.0.lib

vtkFiltersFlowPaths-9.0.lib

vtkFiltersGeneral-9.0.lib

vtkFiltersGeneric-9.0.lib

vtkFiltersGeometry-9.0.lib

vtkFiltersHybrid-9.0.lib

vtkFiltersHyperTree-9.0.lib

vtkFiltersImaging-9.0.lib

vtkFiltersModeling-9.0.lib

vtkFiltersParallel-9.0.lib

vtkFiltersParallelImaging-9.0.lib

vtkFiltersPoints-9.0.lib

vtkFiltersProgrammable-9.0.lib

vtkFiltersSelection-9.0.lib

vtkFiltersSMP-9.0.lib

vtkFiltersSources-9.0.lib

vtkFiltersStatistics-9.0.lib

vtkFiltersTexture-9.0.lib

vtkFiltersTopology-9.0.lib

vtkFiltersVerdict-9.0.lib

vtkfreetype-9.0.lib

vtkGeovisCore-9.0.lib

vtkgl2ps-9.0.lib

vtkglew-9.0.lib

vtkhdf5-9.0.lib

vtkhdf5_hl-9.0.lib

vtkImagingColor-9.0.lib

vtkImagingCore-9.0.lib

vtkImagingFourier-9.0.lib

vtkImagingGeneral-9.0.lib

vtkImagingHybrid-9.0.lib

vtkImagingMath-9.0.lib

vtkImagingMorphological-9.0.lib

vtkImagingSources-9.0.lib

vtkImagingStatistics-9.0.lib

vtkImagingStencil-9.0.lib

vtkInfovisCore-9.0.lib

vtkInfovisLayout-9.0.lib

vtkInteractionImage-9.0.lib

vtkInteractionStyle-9.0.lib

vtkInteractionWidgets-9.0.lib

vtkIOAMR-9.0.lib

vtkIOAsynchronous-9.0.lib

vtkIOCityGML-9.0.lib

vtkIOCore-9.0.lib

vtkIOEnSight-9.0.lib

vtkIOExodus-9.0.lib

vtkIOExport-9.0.lib

vtkIOExportGL2PS-9.0.lib

vtkIOExportPDF-9.0.lib

vtkIOGeometry-9.0.lib

vtkIOImage-9.0.lib

vtkIOImport-9.0.lib

vtkIOInfovis-9.0.lib

vtkIOLegacy-9.0.lib

vtkIOLSDyna-9.0.lib

vtkIOMINC-9.0.lib

vtkIOMotionFX-9.0.lib

vtkIOMovie-9.0.lib

vtkIONetCDF-9.0.lib

vtkIOOggTheora-9.0.lib

vtkIOParallel-9.0.lib

vtkIOParallelXML-9.0.lib

vtkIOPLY-9.0.lib

vtkIOSegY-9.0.lib

vtkIOSQL-9.0.lib

vtkIOTecplotTable-9.0.lib

vtkIOVeraOut-9.0.lib

vtkIOVideo-9.0.lib

vtkIOXML-9.0.lib

vtkIOXMLParser-9.0.lib

vtkjpeg-9.0.lib

vtkjsoncpp-9.0.lib

vtklibharu-9.0.lib

vtklibproj-9.0.lib

vtklibxml2-9.0.lib

vtkloguru-9.0.lib

vtklz4-9.0.lib

vtklzma-9.0.lib

vtkmetaio-9.0.lib

vtknetcdf-9.0.lib

vtkogg-9.0.lib

vtkParallelCore-9.0.lib

vtkParallelDIY-9.0.lib

vtkpng-9.0.lib

vtkpugixml-9.0.lib

vtkRenderingAnnotation-9.0.lib

vtkRenderingContext2D-9.0.lib

vtkRenderingContextOpenGL2-9.0.lib

vtkRenderingCore-9.0.lib

vtkRenderingFreeType-9.0.lib

vtkRenderingGL2PSOpenGL2-9.0.lib

vtkRenderingImage-9.0.lib

vtkRenderingLabel-9.0.lib

vtkRenderingLOD-9.0.lib

vtkRenderingOpenGL2-9.0.lib

vtkRenderingSceneGraph-9.0.lib

vtkRenderingUI-9.0.lib

vtkRenderingVolume-9.0.lib

vtkRenderingVolumeOpenGL2-9.0.lib

vtkRenderingVtkJS-9.0.lib

vtksqlite-9.0.lib

vtksys-9.0.lib

vtkTestingRendering-9.0.lib

vtktheora-9.0.lib

vtktiff-9.0.lib

vtkverdict-9.0.lib

vtkViewsContext2D-9.0.lib

vtkViewsCore-9.0.lib

vtkViewsInfovis-9.0.lib

vtkWrappingTools-9.0.lib

vtkzlib-9.0.lib

2.2 测试

我在网上下载了一个兔子的点云文件：rabbit.pcd文件，在VS2019中用代码进行打开如图25所示：

 

图 25

然后用简单的点云3D重构算法对该兔子的点云进行处理后得到的图像为如图26所示：

 

图 26

至此测试完成。

三、总结

在这次配置环境过程中我学到了如何配置电脑环境，如何配置软件环境来使用相应软件没有自带的库，接触了读取.pcd文件的算法，以及简单的点云3D重构算法，由图27可以看出，该重构效果还是有待改进，在红框框住地方仍有大片出现断层的现象。