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Win10环境下使用VisualStudio2019配置点云库PCL1.11.1
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一、下载PCL1.11.1
Github下载地址：PCL 1.11.1
下载红框内的两个文件
二、安装PCL1.11.1
2.1 安装“PCL-1.11.1-AllInOne-msvc2019-win64.exe”。 （1）选择第二个，自动添加系统变量
（2）安装路径选择D盘，系统会自动新建PCL 1.11.1文件夹。
2.2 安装完成之后打开文件夹 D:\PCL 1.11.1\3rdParty\OpenNI2 双击OpenNI-Windows-x64-2.2 选择路径（D:\PCL 1.11.1\3rdParty\OpenNI2）安装即可。
对于一些电脑可能会出现安装OpenNI2时未弹出，默认安装在C盘的情况。此时需要到目标文件夹双击安装程序，先点击REMOVE，将原本安装到c盘的卸载掉，之后重新安装到目标文件夹下。
2.3 全部安装完成后，将pcl-1.11.1-pdb-msvc2019-win64.zip解压后的.pdb文件拷贝到（D:\PCL 1.11.1\bin）中。 2.4 设置环境变量：右击计算机—属性—高级系统设置—高级—环境变量—用户变量—Path—编辑!
在这里直接给出，防止出现错误（依次添加）：
%PCL_ROOT%\3rdParty\FLANN\bin%PCL_ROOT%\3rdParty\VTK\bin%OPENNI2_REDIST64%%OPENNI2_LIB64%%OPENNI2_INCLUDE64%
到此，环境变量的配置完成。
三、设置VS2019
3.1 新建空项目
解决方案配置选择Debug，解决方案平台选择x64。
3.2 新建一个C++源文件
3.3 右击新建的项目—属性：打开属性表
3.4 配置属性—调试—环境—添加：
PATH=D:\PCL 1.11.1\\bin;D:\PCL 1.11.1\\3rdParty\FLANN\bin;D:\PCL 1.11.1\\3rdParty\VTK\bin;D:\PCL 1.11.1\\3rdParty\OpenNI2\Tools
3.5 C/C++—常规—SDL检查：否
3.6 C/C++—语言—符合模式：否
四、配置PCL1.11.1
4.1 VC++目录—包含目录，添加7个include路径
具体添加的include路径如下：
D:\PCL 1.11.1\include\pcl-1.11D:\PCL 1.11.1\3rdParty\Boost\include\boost-1_74D:\PCL 1.11.1\3rdParty\Eigen\eigen3D:\PCL 1.11.1\3rdParty\FLANN\includeD:\PCL 1.11.1\3rdParty\OpenNI2\IncludeD:\PCL 1.11.1\3rdParty\Qhull\includeD:\PCL 1.11.1\3rdParty\VTK\include\vtk-8.2
4.2 VC++目录—库目录，添加6个lib路径
具体添加的lib路径如下：
D:\PCL 1.11.1\libD:\PCL 1.11.1\3rdParty\Boost\libD:\PCL 1.11.1\3rdParty\FLANN\libD:\PCL 1.11.1\3rdParty\OpenNI2\LibD:\PCL 1.11.1\3rdParty\Qhull\libD:\PCL 1.11.1\3rdParty\VTK\lib
4.3 C/C++—预处理器—预处理器定义—添加：
BOOST_USE_WINDOWS_HNOMINMAX_CRT_SECURE_NO_DEPRECATE
4.4 链接器—输入—附加依赖项——添加PCL和VTK的相关lib文件。我用的Debug版本。
具体添加的附加依赖项内容如下：
pcl_commond.libpcl_featuresd.libpcl_filtersd.libpcl_iod.libpcl_io_plyd.libpcl_kdtreed.libpcl_keypointsd.libpcl_mld.libpcl_octreed.libpcl_outofcored.libpcl_peopled.libpcl_recognitiond.libpcl_registrationd.libpcl_sample_consensusd.libpcl_searchd.libpcl_segmentationd.libpcl_stereod.libpcl_surfaced.libpcl_trackingd.libpcl_visualizationd.libvtkChartsCore-8.2-gd.libvtkCommonColor-8.2-gd.libvtkCommonComputationalGeometry-8.2-gd.libvtkCommonCore-8.2-gd.libvtkCommonDataModel-8.2-gd.libvtkCommonExecutionModel-8.2-gd.libvtkCommonMath-8.2-gd.libvtkCommonMisc-8.2-gd.libvtkCommonSystem-8.2-gd.libvtkCommonTransforms-8.2-gd.libvtkDICOMParser-8.2-gd.libvtkDomainsChemistry-8.2-gd.libvtkDomainsChemistryOpenGL2-8.2-gd.libvtkdoubleconversion-8.2-gd.libvtkexodusII-8.2-gd.libvtkexpat-8.2-gd.libvtkFiltersAMR-8.2-gd.libvtkFiltersCore-8.2-gd.libvtkFiltersExtraction-8.2-gd.libvtkFiltersFlowPaths-8.2-gd.libvtkFiltersGeneral-8.2-gd.libvtkFiltersGeneric-8.2-gd.libvtkFiltersGeometry-8.2-gd.libvtkFiltersHybrid-8.2-gd.libvtkFiltersHyperTree-8.2-gd.libvtkFiltersImaging-8.2-gd.libvtkFiltersModeling-8.2-gd.libvtkFiltersParallel-8.2-gd.libvtkFiltersParallelImaging-8.2-gd.libvtkFiltersPoints-8.2-gd.libvtkFiltersProgrammable-8.2-gd.libvtkFiltersSelection-8.2-gd.libvtkFiltersSMP-8.2-gd.libvtkFiltersSources-8.2-gd.libvtkFiltersStatistics-8.2-gd.libvtkFiltersTexture-8.2-gd.libvtkFiltersTopology-8.2-gd.libvtkFiltersVerdict-8.2-gd.libvtkfreetype-8.2-gd.libvtkGeovisCore-8.2-gd.libvtkgl2ps-8.2-gd.libvtkglew-8.2-gd.libvtkGUISupportMFC-8.2-gd.libvtkhdf5-8.2-gd.libvtkhdf5_hl-8.2-gd.libvtkImagingColor-8.2-gd.libvtkImagingCore-8.2-gd.libvtkImagingFourier-8.2-gd.libvtkImagingGeneral-8.2-gd.libvtkImagingHybrid-8.2-gd.libvtkImagingMath-8.2-gd.libvtkImagingMorphological-8.2-gd.libvtkImagingSources-8.2-gd.libvtkImagingStatistics-8.2-gd.libvtkImagingStencil-8.2-gd.libvtkInfovisCore-8.2-gd.libvtkInfovisLayout-8.2-gd.libvtkInteractionImage-8.2-gd.libvtkInteractionStyle-8.2-gd.libvtkInteractionWidgets-8.2-gd.libvtkIOAMR-8.2-gd.libvtkIOAsynchronous-8.2-gd.libvtkIOCityGML-8.2-gd.libvtkIOCore-8.2-gd.libvtkIOEnSight-8.2-gd.libvtkIOExodus-8.2-gd.libvtkIOExport-8.2-gd.libvtkIOExportOpenGL2-8.2-gd.libvtkIOExportPDF-8.2-gd.libvtkIOGeometry-8.2-gd.libvtkIOImage-8.2-gd.libvtkIOImport-8.2-gd.libvtkIOInfovis-8.2-gd.libvtkIOLegacy-8.2-gd.libvtkIOLSDyna-8.2-gd.libvtkIOMINC-8.2-gd.libvtkIOMovie-8.2-gd.libvtkIONetCDF-8.2-gd.libvtkIOParallel-8.2-gd.libvtkIOParallelXML-8.2-gd.libvtkIOPLY-8.2-gd.libvtkIOSegY-8.2-gd.libvtkIOSQL-8.2-gd.libvtkIOTecplotTable-8.2-gd.libvtkIOVeraOut-8.2-gd.libvtkIOVideo-8.2-gd.libvtkIOXML-8.2-gd.libvtkIOXMLParser-8.2-gd.libvtkjpeg-8.2-gd.libvtkjsoncpp-8.2-gd.libvtklibharu-8.2-gd.libvtklibxml2-8.2-gd.libvtklz4-8.2-gd.libvtklzma-8.2-gd.libvtkmetaio-8.2-gd.libvtkNetCDF-8.2-gd.libvtkogg-8.2-gd.libvtkParallelCore-8.2-gd.libvtkpng-8.2-gd.libvtkproj-8.2-gd.libvtkpugixml-8.2-gd.libvtkRenderingAnnotation-8.2-gd.libvtkRenderingContext2D-8.2-gd.libvtkRenderingContextOpenGL2-8.2-gd.libvtkRenderingCore-8.2-gd.libvtkRenderingExternal-8.2-gd.libvtkRenderingFreeType-8.2-gd.libvtkRenderingGL2PSOpenGL2-8.2-gd.libvtkRenderingImage-8.2-gd.libvtkRenderingLabel-8.2-gd.libvtkRenderingLOD-8.2-gd.libvtkRenderingOpenGL2-8.2-gd.libvtkRenderingVolume-8.2-gd.libvtkRenderingVolumeOpenGL2-8.2-gd.libvtksqlite-8.2-gd.libvtksys-8.2-gd.libvtktheora-8.2-gd.libvtktiff-8.2-gd.libvtkverdict-8.2-gd.libvtkViewsContext2D-8.2-gd.libvtkViewsCore-8.2-gd.libvtkViewsInfovis-8.2-gd.libvtkzlib-8.2-gd.lib
安装完毕！！！ release版本附加依赖项
pcl_common.libpcl_features.libpcl_filters.libpcl_io.libpcl_io_ply.libpcl_kdtree.libpcl_keypoints.libpcl_ml.libpcl_octree.libpcl_outofcore.libpcl_people.libpcl_recognition.libpcl_registration.libpcl_sample_consensus.libpcl_search.libpcl_segmentation.libpcl_stereo.libpcl_surface.libpcl_tracking.libpcl_visualization.libvtkChartsCore-8.2.libvtkCommonColor-8.2.libvtkCommonComputationalGeometry-8.2.libvtkCommonCore-8.2.libvtkCommonDataModel-8.2.libvtkCommonExecutionModel-8.2.libvtkCommonMath-8.2.libvtkCommonMisc-8.2.libvtkCommonSystem-8.2.libvtkCommonTransforms-8.2.libvtkDICOMParser-8.2.libvtkDomainsChemistry-8.2.libvtkDomainsChemistryOpenGL2-8.2.libvtkdoubleconversion-8.2.libvtkexodusII-8.2.libvtkexpat-8.2.libvtkFiltersAMR-8.2.libvtkFiltersCore-8.2.libvtkFiltersExtraction-8.2.libvtkFiltersFlowPaths-8.2.libvtkFiltersGeneral-8.2.libvtkFiltersGeneric-8.2.libvtkFiltersGeometry-8.2.libvtkFiltersHybrid-8.2.libvtkFiltersHyperTree-8.2.libvtkFiltersImaging-8.2.libvtkFiltersModeling-8.2.libvtkFiltersParallel-8.2.libvtkFiltersParallelImaging-8.2.libvtkFiltersPoints-8.2.libvtkFiltersProgrammable-8.2.libvtkFiltersSelection-8.2.libvtkFiltersSMP-8.2.libvtkFiltersSources-8.2.libvtkFiltersStatistics-8.2.libvtkFiltersTexture-8.2.libvtkFiltersTopology-8.2.libvtkFiltersVerdict-8.2.libvtkfreetype-8.2.libvtkGeovisCore-8.2.libvtkgl2ps-8.2.libvtkglew-8.2.libvtkGUISupportMFC-8.2.libvtkhdf5-8.2.libvtkhdf5_hl-8.2.libvtkImagingColor-8.2.libvtkImagingCore-8.2.libvtkImagingFourier-8.2.libvtkImagingGeneral-8.2.libvtkImagingHybrid-8.2.libvtkImagingMath-8.2.libvtkImagingMorphological-8.2.libvtkImagingSources-8.2.libvtkImagingStatistics-8.2.libvtkImagingStencil-8.2.libvtkInfovisCore-8.2.libvtkInfovisLayout-8.2.libvtkInteractionImage-8.2.libvtkInteractionStyle-8.2.libvtkInteractionWidgets-8.2.libvtkIOAMR-8.2.libvtkIOAsynchronous-8.2.libvtkIOCityGML-8.2.libvtkIOCore-8.2.libvtkIOEnSight-8.2.libvtkIOExodus-8.2.libvtkIOExport-8.2.libvtkIOExportOpenGL2-8.2.libvtkIOExportPDF-8.2.libvtkIOGeometry-8.2.libvtkIOImage-8.2.libvtkIOImport-8.2.libvtkIOInfovis-8.2.libvtkIOLegacy-8.2.libvtkIOLSDyna-8.2.libvtkIOMINC-8.2.libvtkIOMovie-8.2.libvtkIONetCDF-8.2.libvtkIOParallel-8.2.libvtkIOParallelXML-8.2.libvtkIOPLY-8.2.libvtkIOSegY-8.2.libvtkIOSQL-8.2.libvtkIOTecplotTable-8.2.libvtkIOVeraOut-8.2.libvtkIOVideo-8.2.libvtkIOXML-8.2.libvtkIOXMLParser-8.2.libvtkjpeg-8.2.libvtkjsoncpp-8.2.libvtklibharu-8.2.libvtklibxml2-8.2.libvtklz4-8.2.libvtklzma-8.2.libvtkmetaio-8.2.libvtkNetCDF-8.2.libvtkogg-8.2.libvtkParallelCore-8.2.libvtkpng-8.2.libvtkproj-8.2.libvtkpugixml-8.2.libvtkRenderingAnnotation-8.2.libvtkRenderingContext2D-8.2.libvtkRenderingContextOpenGL2-8.2.libvtkRenderingCore-8.2.libvtkRenderingExternal-8.2.libvtkRenderingFreeType-8.2.libvtkRenderingGL2PSOpenGL2-8.2.libvtkRenderingImage-8.2.libvtkRenderingLabel-8.2.libvtkRenderingLOD-8.2.libvtkRenderingOpenGL2-8.2.libvtkRenderingVolume-8.2.libvtkRenderingVolumeOpenGL2-8.2.libvtksqlite-8.2.libvtksys-8.2.libvtktheora-8.2.libvtktiff-8.2.libvtkverdict-8.2.libvtkViewsContext2D-8.2.libvtkViewsCore-8.2.libvtkViewsInfovis-8.2.libvtkzlib-8.2.lib
五、测试代码
#include <iostream>#include <vector>#include <ctime>#include <pcl/point_cloud.h>#include <pcl/octree/octree.h>#include <boost/thread/thread.hpp>#include <pcl/visualization/pcl_visualizer.h>using namespace std;intmain(int argc, char** argv){srand((unsigned int)time(NULL));pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);// 创建点云数据cloud->width = 1000;cloud->height = 1;cloud->points.resize(cloud->width * cloud->height);for (size_t i = 0; i < cloud->points.size(); ++i){cloud->points[i].x = 1024.0f * rand() / (RAND_MAX + 1.0f);cloud->points[i].y = 1024.0f * rand() / (RAND_MAX + 1.0f);cloud->points[i].z = 1024.0f * rand() / (RAND_MAX + 1.0f);}pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(0.1);octree.setInputCloud(cloud);octree.addPointsFromInputCloud();pcl::PointXYZ searchPoint;searchPoint.x = 1024.0f * rand() / (RAND_MAX + 1.0f);searchPoint.y = 1024.0f * rand() / (RAND_MAX + 1.0f);searchPoint.z = 1024.0f * rand() / (RAND_MAX + 1.0f);//半径内近邻搜索vector<int>pointIdxRadiusSearch;vector<float>pointRadiusSquaredDistance;float radius = 256.0f * rand() / (RAND_MAX + 1.0f);cout << "Neighbors within radius search at (" << searchPoint.x<< " " << searchPoint.y<< " " << searchPoint.z<< ") with radius=" << radius << endl;if (octree.radiusSearch(searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance) > 0){for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i)cout << "" << cloud->points[pointIdxRadiusSearch[i]].x<< " " << cloud->points[pointIdxRadiusSearch[i]].y<< " " << cloud->points[pointIdxRadiusSearch[i]].z<< " (squared distance: " << pointRadiusSquaredDistance[i] << ")" << endl;}// 初始化点云可视化对象boost::shared_ptr<pcl::visualization::PCLVisualizer>viewer(new pcl::visualization::PCLVisualizer("显示点云"));viewer->setBackgroundColor(0, 0, 0);//设置背景颜色为黑色// 对点云着色可视化 (red).pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>target_color(cloud, 255, 0, 0);viewer->addPointCloud<pcl::PointXYZ>(cloud, target_color, "target cloud");viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "target cloud");// 等待直到可视化窗口关闭while (!viewer->wasStopped()){viewer->spinOnce(100);boost::this_thread::sleep(boost::posix_time::microseconds(1000));}return (0);}
输出下图（数字可能不同），则表示安装成功！
六、附录—获取附加依赖项
#include <io.h>#include <vector>#include <string>#include <fstream>#include <iostream>using namespace std;#pragma region // 从文件夹中读取lib文件vector<string>batchFetchingLib(string& folder_path){string filename_suffix = "/*lib"; // lib文件的文件名后缀(.lib)vector<string>files;struct _finddata_t fileinfo;intptr_t handle;handle = _findfirst((folder_path + filename_suffix).data(), &fileinfo);if (handle == -1){printf("输入的路径有错误");exit(-1);}else{files.push_back(fileinfo.name);while (_findnext(handle, &fileinfo) == 0){if (strcmp(fileinfo.name, ".") == 0 || strcmp(fileinfo.name, "..") == 0)continue;files.push_back(fileinfo.name);}}_findclose(handle);return files;}#pragma endregionint main(){string pcl_lib_path("D://PCL 1.11.1//lib");// 读取lib文件的路径string vtk_lib_path("D://PCL 1.11.1//3rdParty//VTK//lib"); // 读取VTK-lib文件的路径vector<string>PCL = batchFetchingLib(pcl_lib_path);// 获取lib文件名vector<string>VTK = batchFetchingLib(vtk_lib_path);// 获取VTK-lib文件名ofstream release, debug;// 保存的文件release.open("PCL1.11.1_Release附加依赖项.txt", ios::app);debug.open("PCL1.11.1_Debug附加依赖项.txt", ios::app);for (size_t i = 0; i < PCL.size(); ++i){(i % 2 == 0) ? release << PCL[i] << endl : debug << PCL[i] << endl;}for (size_t i = 0; i < VTK.size(); ++i){(i % 2 != 0) ? release << VTK[i] << endl : debug << VTK[i] << endl;}release.close();debug.close();cout << "附加依赖项获取完毕！！！" << endl;return 0;}
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