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VS2019配置PCL（windows）_vs导入pcl
作者：羊村懒王 | 2024-05-01 11:02:02
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vs导入pcl
PCL版本：PCL 1.10.1
参考文章：
https://zhuanlan.zhihu.com/p/142955614?utm_source=wechat_session
https://blog.csdn.net/qq_33561192/article/details/104686500
配置PCL
下载
下载 PCL-1.10.1-AllInOne-msvc2019-win64.exe 和 pcl-1.10.1-pdb-msvc2019-win64.zip 文件
CSDN下载链接：https://download.csdn.net/download/y18771025420/13569358
百度云链接：https://pan.baidu.com/s/1sTn3KhYszQh4i0IO37lPeA
提取码：8bz5
官网链接：https://github.com/PointCloudLibrary/pcl/releases
安装PCL-1.10.1-AllInOne-msvc2019-win64.exe文件
以下两步需要注意，其他地方直接点下一步即可
安装的时候选择Add PCL to the system PATH for all users，然后在系统变量中会自动生成下图变量，没有的话自行添加
添加方法：点击电脑，右键选择属性，然后选择高级系统设置，点击环境变量，然后查看是否有这四个变量，没有点击新建添加（添加自己的路径），添加后点击确认
在安装过程中需要注意自己的安装路径，需要记下来
安装OpenNI2
在下列路径中，找到OpenNI2的安装包，自然安装即可，记住安装路径，我是默认路径 C:\Program Files\OpenNI2
将下载的第二个文件 pcl-1.10.1-pdb-msvc2019-win64.zip 解压后，将其中文件复制到PCL安装目录的bin目录下
环境配置
添加方法：点击电脑，右键选择属性，然后选择高级系统设置，点击环境变量，然后在系统变量里点击Path，然后添加下图所示路径（添加自己的路径），最后点击确认。在配置完电脑之后重启电脑
VS2019配置
1、首先在VS2019新建空项目，然后在源文件中创建源文件
需要将运行模式改为Debug x64
2、选择项目，右键选择属性，其配置也要改为Debug x64
3、点击VC++目录中，选择包含目录，进行编辑
然后添加如下路径（添加自己的路径）
4、点击VC++目录中，选择库目录，进行编辑
然后添加如下路径（添加自己的路径）
5、点击C/C++，选择常规，然后将SDL检查改为否
6、将pcl和vtk的lib库加入链接器，点击链接器，选择输入，点击附加依赖项，进行编辑，Debug和Release版本不一致，都写在下面了，可以直接拷贝
Debug：
OpenNI2.lib vtkChartsCore-8.2-gd.lib vtkCommonColor-8.2-gd.lib vtkCommonComputationalGeometry-8.2-gd.lib vtkCommonCore-8.2-gd.lib vtkCommonDataModel-8.2-gd.lib vtkCommonExecutionModel-8.2-gd.lib vtkCommonMath-8.2-gd.lib vtkCommonMisc-8.2-gd.lib vtkCommonSystem-8.2-gd.lib vtkCommonTransforms-8.2-gd.lib vtkDICOMParser-8.2-gd.lib vtkDomainsChemistry-8.2-gd.lib vtkDomainsChemistryOpenGL2-8.2-gd.lib vtkdoubleconversion-8.2-gd.lib vtkexodusII-8.2-gd.lib vtkexpat-8.2-gd.lib vtkFiltersAMR-8.2-gd.lib vtkFiltersCore-8.2-gd.lib vtkFiltersExtraction-8.2-gd.lib vtkFiltersFlowPaths-8.2-gd.lib vtkFiltersGeneral-8.2-gd.lib vtkFiltersGeneric-8.2-gd.lib vtkFiltersGeometry-8.2-gd.lib vtkFiltersHybrid-8.2-gd.lib vtkFiltersHyperTree-8.2-gd.lib vtkFiltersImaging-8.2-gd.lib vtkFiltersModeling-8.2-gd.lib vtkFiltersParallel-8.2-gd.lib vtkFiltersParallelImaging-8.2-gd.lib vtkFiltersPoints-8.2-gd.lib vtkFiltersProgrammable-8.2-gd.lib vtkFiltersSelection-8.2-gd.lib vtkFiltersSMP-8.2-gd.lib vtkFiltersSources-8.2-gd.lib vtkFiltersStatistics-8.2-gd.lib vtkFiltersTexture-8.2-gd.lib vtkFiltersTopology-8.2-gd.lib vtkFiltersVerdict-8.2-gd.lib vtkfreetype-8.2-gd.lib vtkGeovisCore-8.2-gd.lib vtkgl2ps-8.2-gd.lib vtkglew-8.2-gd.lib vtkGUISupportMFC-8.2-gd.lib vtkhdf5-8.2-gd.lib vtkhdf5_hl-8.2-gd.lib vtkImagingColor-8.2-gd.lib vtkImagingColor-8.2.lib vtkImagingCore-8.2-gd.lib vtkImagingCore-8.2.lib vtkImagingFourier-8.2-gd.lib vtkImagingFourier-8.2.lib vtkImagingGeneral-8.2-gd.lib vtkImagingGeneral-8.2.lib vtkImagingHybrid-8.2-gd.lib vtkImagingHybrid-8.2.lib vtkImagingMath-8.2-gd.lib vtkImagingMath-8.2.lib vtkImagingMorphological-8.2-gd.lib vtkImagingMorphological-8.2.lib vtkImagingSources-8.2-gd.lib vtkImagingSources-8.2.lib vtkImagingStatistics-8.2-gd.lib vtkImagingStatistics-8.2.lib vtkImagingStencil-8.2-gd.lib vtkImagingStencil-8.2.lib vtkInfovisCore-8.2-gd.lib vtkInfovisLayout-8.2-gd.lib vtkInteractionImage-8.2-gd.lib vtkInteractionStyle-8.2-gd.lib vtkInteractionWidgets-8.2-gd.lib vtkIOAMR-8.2-gd.lib vtkIOAsynchronous-8.2-gd.lib vtkIOCityGML-8.2-gd.lib vtkIOCore-8.2-gd.lib vtkIOEnSight-8.2-gd.lib vtkIOExodus-8.2-gd.lib vtkIOExport-8.2-gd.lib vtkIOExportOpenGL2-8.2-gd.lib vtkIOExportPDF-8.2-gd.lib vtkIOGeometry-8.2-gd.lib vtkIOImage-8.2-gd.lib vtkIOImport-8.2-gd.lib vtkIOInfovis-8.2-gd.lib vtkIOLegacy-8.2-gd.lib vtkIOLSDyna-8.2-gd.lib vtkIOMINC-8.2-gd.lib vtkIOMovie-8.2-gd.lib vtkIONetCDF-8.2-gd.lib vtkIOParallel-8.2-gd.lib vtkIOParallelXML-8.2-gd.lib vtkIOPLY-8.2-gd.lib vtkIOSegY-8.2-gd.lib vtkIOSQL-8.2-gd.lib vtkIOTecplotTable-8.2-gd.lib vtkIOVeraOut-8.2-gd.lib vtkIOVideo-8.2-gd.lib vtkIOXML-8.2-gd.lib vtkIOXMLParser-8.2-gd.lib vtkjpeg-8.2-gd.lib vtkjsoncpp-8.2-gd.lib vtklibharu-8.2-gd.lib vtklibxml2-8.2-gd.lib vtklz4-8.2-gd.lib vtklzma-8.2-gd.lib vtkmetaio-8.2-gd.lib vtkNetCDF-8.2-gd.lib vtkogg-8.2-gd.lib vtkParallelCore-8.2-gd.lib vtkpng-8.2-gd.lib vtkproj-8.2-gd.lib vtkpugixml-8.2-gd.lib vtkRenderingAnnotation-8.2-gd.lib vtkRenderingContext2D-8.2-gd.lib vtkRenderingContextOpenGL2-8.2-gd.lib vtkRenderingCore-8.2-gd.lib vtkRenderingExternal-8.2-gd.lib vtkRenderingFreeType-8.2-gd.lib vtkRenderingGL2PSOpenGL2-8.2-gd.lib vtkRenderingImage-8.2-gd.lib vtkRenderingLabel-8.2-gd.lib vtkRenderingLOD-8.2-gd.lib vtkRenderingOpenGL2-8.2-gd.lib vtkRenderingVolume-8.2-gd.lib vtkRenderingVolumeOpenGL2-8.2-gd.lib vtksqlite-8.2-gd.lib vtksys-8.2-gd.lib vtktheora-8.2-gd.lib vtktiff-8.2-gd.lib vtkverdict-8.2-gd.lib vtkViewsContext2D-8.2-gd.lib vtkViewsCore-8.2-gd.lib vtkViewsInfovis-8.2-gd.lib vtkzlib-8.2-gd.lib 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
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Release：
OpenNI2.lib vtkChartsCore-8.2.lib vtkCommonColor-8.2.lib vtkCommonComputationalGeometry-8.2.lib vtkCommonCore-8.2.lib vtkCommonDataModel-8.2.lib vtkCommonExecutionModel-8.2.lib vtkCommonMath-8.2.lib vtkCommonMisc-8.2.lib vtkCommonSystem-8.2.lib vtkCommonTransforms-8.2.lib vtkDICOMParser-8.2.lib vtkDomainsChemistry-8.2.lib vtkDomainsChemistryOpenGL2-8.2.lib vtkdoubleconversion-8.2.lib vtkexodusII-8.2.lib vtkexpat-8.2.lib vtkFiltersAMR-8.2.lib vtkFiltersCore-8.2.lib vtkFiltersExtraction-8.2.lib vtkFiltersFlowPaths-8.2.lib vtkFiltersGeneral-8.2.lib vtkFiltersGeneric-8.2.lib vtkFiltersGeometry-8.2.lib vtkFiltersHybrid-8.2.lib vtkFiltersHyperTree-8.2.lib vtkFiltersImaging-8.2.lib vtkFiltersModeling-8.2.lib vtkFiltersParallel-8.2.lib vtkFiltersParallelImaging-8.2.lib vtkFiltersPoints-8.2.lib vtkFiltersProgrammable-8.2.lib vtkFiltersSelection-8.2.lib vtkFiltersSMP-8.2.lib vtkFiltersSources-8.2.lib vtkFiltersStatistics-8.2.lib vtkFiltersTexture-8.2.lib vtkFiltersTopology-8.2.lib vtkFiltersVerdict-8.2.lib vtkfreetype-8.2.lib vtkGeovisCore-8.2.lib vtkgl2ps-8.2.lib vtkglew-8.2.lib vtkGUISupportMFC-8.2.lib vtkhdf5-8.2.lib vtkhdf5_hl-8.2.lib vtkImagingColor-8.2.lib vtkImagingCore-8.2.lib vtkImagingFourier-8.2.lib vtkImagingGeneral-8.2.lib vtkImagingHybrid-8.2.lib vtkImagingMath-8.2.lib vtkImagingMorphological-8.2.lib vtkImagingSources-8.2.lib vtkImagingStatistics-8.2.lib vtkImagingStencil-8.2.lib vtkInfovisCore-8.2.lib vtkInfovisLayout-8.2.lib vtkInteractionImage-8.2.lib vtkInteractionStyle-8.2.lib vtkInteractionWidgets-8.2.lib vtkIOAMR-8.2.lib vtkIOAsynchronous-8.2.lib vtkIOCityGML-8.2.lib vtkIOCore-8.2.lib vtkIOEnSight-8.2.lib vtkIOExodus-8.2.lib vtkIOExport-8.2.lib vtkIOExportOpenGL2-8.2.lib vtkIOExportPDF-8.2.lib vtkIOGeometry-8.2.lib vtkIOImage-8.2.lib vtkIOImport-8.2.lib vtkIOInfovis-8.2.lib vtkIOLegacy-8.2.lib vtkIOLSDyna-8.2.lib vtkIOMINC-8.2.lib vtkIOMovie-8.2.lib vtkIONetCDF-8.2.lib vtkIOParallel-8.2.lib vtkIOParallelXML-8.2.lib vtkIOPLY-8.2.lib vtkIOSegY-8.2.lib vtkIOSQL-8.2.lib vtkIOTecplotTable-8.2.lib vtkIOVeraOut-8.2.lib vtkIOVideo-8.2.lib vtkIOXML-8.2.lib vtkIOXMLParser-8.2.lib vtkjpeg-8.2.lib vtkjsoncpp-8.2.lib vtklibharu-8.2.lib vtklibxml2-8.2.lib vtklz4-8.2.lib vtklzma-8.2.lib vtkmetaio-8.2.lib vtkNetCDF-8.2.lib vtkogg-8.2.lib vtkParallelCore-8.2.lib vtkpng-8.2.lib vtkproj-8.2.lib vtkpugixml-8.2.lib vtkRenderingAnnotation-8.2.lib vtkRenderingContext2D-8.2.lib vtkRenderingContextOpenGL2-8.2.lib vtkRenderingCore-8.2.lib vtkRenderingExternal-8.2.lib vtkRenderingFreeType-8.2.lib vtkRenderingGL2PSOpenGL2-8.2.lib vtkRenderingImage-8.2.lib vtkRenderingLabel-8.2.lib vtkRenderingLOD-8.2.lib vtkRenderingOpenGL2-8.2.lib vtkRenderingVolume-8.2.lib vtkRenderingVolumeOpenGL2-8.2.lib vtksqlite-8.2.lib vtksys-8.2.lib vtktheora-8.2.lib vtktiff-8.2.lib vtkverdict-8.2.lib vtkViewsContext2D-8.2.lib vtkViewsCore-8.2.lib vtkViewsInfovis-8.2.lib vtkzlib-8.2.lib 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
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7、点击C/C++，选择预处理器，然后点击预处理器定义，进行编辑，，将配置改为所有配置，添加如下命令
命令项列表：
_CRT_SECURE_NO_WARNINGS
BOOST_ALL_NO_LIB
BOOST_USE_WINDOWS_H
NOMINMAX
_SCL_SECURE_NO_WARNINGS
_SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING
确定，配置完成！
测试
需要自己有PCD文件，导入PCD然后显示
#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。 int main() { pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); char strfilepath[256] = "rabbit_t.pcd"; if (-1 == pcl::io::loadPCDFile(strfilepath, *cloud)) //打开点云文件 { std::cout << "error input!" << std::endl; return -1; } std::cout << cloud->points.size() << std::endl; pcl::visualization::CloudViewer viewer("Cloud Viewer"); //创建viewer对象 viewer.showCloud(cloud); system("pause"); return 0; }
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