PCL环境配置
win7+VS2017+PCL1.8.1环境配置
1、PCL1.8.1的下载和安装
1、pcl下载地址：https://github.com/PointCloudLibrary/pcl/releases
2、pcl安装。
3、OpenNI2安装需要自定义安装路径。
我的路径：E:\Program Files (x86)\PCL 1.8.1\3rdParty\OpenNI2
2、环境变量的配置
1、安装过程中已经设置好了环境变量：%PCL_ROOT%=E:\Program Files\PCL 1.8.1
2、手动设置的环境变量
%PCL_ROOT%\bin;
%PCL_ROOT%\3rdParty\FLANN\bin;
%PCL_ROOT%\3rdParty\VTK\bin;
%PCL_ROOT%\3rdParty\Qhull\bin;
%PCL_ROOT%\3rdParty\OpenNI2\Tools
3、头文件、库文件及依赖项的配置
1、头文件配置：
2、库文件配置
3、依赖项配置
缺什么依赖项就添加对应依赖项：见附录6
4、预处理器：
_SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING
_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS
4、点云编解码例程
// TestPcl.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
#include "pch.h"
#include
#include
#include
#include
#include
#include
int main()
{
// 加载点云
pcl::PointCloud sourceCloud;
pcl::PLYReader reader;
if (pcl::io::loadPLYFile("Facade_00009_vox12.ply", sourceCloud) == -1)
{
PCL_ERROR("Failed to load PLYFile!");
return -1;
}
// 是否查看压缩信息
const unsigned char colorBitResolution_arg = 6;
bool showStatistics = true;
// 配置文件，如果想看配置文件的详细内容，可以参考: /io/include/pcl/compression/compression_profiles.h
//pcl::io::compression_Profiles_e compressionProfile = pcl::io::LOW_RES_ONLINE_COMPRESSION_WITH_COLOR;
pcl::io::compression_Profiles_e compressionProfile = pcl::io::MANUAL_CONFIGURATION;
// 初始化点云压缩器和解压器
pcl::io::OctreePointCloudCompression* PointCloudEncoder;
PointCloudEncoder = new pcl::io::OctreePointCloudCompression(compressionProfile, showStatistics, 0.002, 0.01,
true, 50, true, colorBitResolution_arg);
// 压缩结果stringstream
std::stringstream compressedData;
// 输出点云
pcl::PointCloud::Ptr cloudOut(new pcl::PointCloud());
// 压缩点云
PointCloudEncoder->encodePointCloud(sourceCloud.makeShared(), compressedData);
std::cout << "开始写入" << sizeof(compressedData)<decodePointCloud(compressedData, cloudOut);
pcl::io::savePLYFile("chongjian.ply", *cloudOut);
std::cout << "结束" << endl;
return 0;
} 运行结果：
5、遇到的问题
1、错误 C4996 ‘std::fpos<_Mbstatet>::seekpos’: warning STL4019: The member std::fpos::seekpos() is non-Standard, and is preserved only for compatibility with workarounds for old versions of Visual C++.
解决办法： _SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING 添加到预处理器
2、错误 LNK2019 无法解析的外部符号 “void __cdecl pcl::console::print(enum pcl::console::VERBOSITY_LEVEL,char const *,…)” (?print@console@pcl@@YAXW4VERBOSITY_LEVEL@12@PEBDZZ)，该符号在函数 “public: void __cdecl pcl::detail::FieldMapper::operator()(void)” (???RUx@fields@pcl@@@? ?RUx@fields@pcl@@@??RUx@fields@pcl@@@?FieldMapper@UPointXYZ@pcl@@@detail@pcl@@QEAAXXZ) 中被引用 ConsoleApplication1 C:\Users\lenovo\Desktop\ConsoleApplication1\ConsoleApplication1\ConsoleApplication1.obj 1
找不到PCL_COMMON_DEBUG.DLL
解决办法：检查环境变量是否正确
3、找不到openni2.dll
解决办法：缺什么dll就加到DEBUG目录下面
6、附录
vtknetcdf_c++-gd.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_stereo_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
pcl_visualization_debug.lib
libboost_atomic-vc141-mt-gd-1_64.lib
libboost_bzip2-vc141-mt-gd-1_64.lib
libboost_chrono-vc141-mt-gd-1_64.lib
libboost_container-vc141-mt-gd-1_64.lib
libboost_context-vc141-mt-gd-1_64.lib
libboost_coroutine-vc141-mt-gd-1_64.lib
libboost_date_time-vc141-mt-gd-1_64.lib
libboost_exception-vc141-mt-gd-1_64.lib
libboost_fiber-vc141-mt-gd-1_64.lib
libboost_filesystem-vc141-mt-gd-1_64.lib
libboost_graph-vc141-mt-gd-1_64.lib
libboost_graph_parallel-vc141-mt-gd-1_64.lib
libboost_iostreams-vc141-mt-gd-1_64.lib
libboost_locale-vc141-mt-gd-1_64.lib
libboost_log-vc141-mt-gd-1_64.lib
libboost_log_setup-vc141-mt-gd-1_64.lib
libboost_math_c99-vc141-mt-gd-1_64.lib
libboost_math_c99f-vc141-mt-gd-1_64.lib
libboost_math_c99l-vc141-mt-gd-1_64.lib
libboost_math_tr1-vc141-mt-gd-1_64.lib
libboost_math_tr1f-vc141-mt-gd-1_64.lib
libboost_math_tr1l-vc141-mt-gd-1_64.lib
libboost_mpi-vc141-mt-gd-1_64.lib
libboost_numpy3-vc141-mt-gd-1_64.lib
libboost_numpy-vc141-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib
libboost_program_options-vc141-mt-gd-1_64.lib
libboost_python3-vc141-mt-gd-1_64.lib
libboost_python-vc141-mt-gd-1_64.lib
libboost_random-vc141-mt-gd-1_64.lib
libboost_regex-vc141-mt-gd-1_64.lib
libboost_serialization-vc141-mt-gd-1_64.lib
libboost_signals-vc141-mt-gd-1_64.lib
libboost_system-vc141-mt-gd-1_64.lib
libboost_test_exec_monitor-vc141-mt-gd-1_64.lib
libboost_thread-vc141-mt-gd-1_64.lib
libboost_timer-vc141-mt-gd-1_64.lib
libboost_type_erasure-vc141-mt-gd-1_64.lib
libboost_unit_test_framework-vc141-mt-gd-1_64.lib
libboost_wave-vc141-mt-gd-1_64.lib
libboost_wserialization-vc141-mt-gd-1_64.lib
libboost_zlib-vc141-mt-gd-1_64.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
qhull_d.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_r_d.lib
qhull_p_d.lib
qhull_r_d.lib
vtkalglib-8.0-gd.lib
vtkChartsCore-8.0-gd.lib
vtkCommonColor-8.0-gd.lib
vtkCommonComputationalGeometry-8.0-gd.lib
vtkCommonCore-8.0-gd.lib
vtkCommonDataModel-8.0-gd.lib
vtkCommonExecutionModel-8.0-gd.lib
vtkCommonMath-8.0-gd.lib
vtkCommonMisc-8.0-gd.lib
vtkCommonSystem-8.0-gd.lib
vtkCommonTransforms-8.0-gd.lib
vtkDICOMParser-8.0-gd.lib
vtkDomainsChemistry-8.0-gd.lib
vtkexoIIc-8.0-gd.lib
vtkexpat-8.0-gd.lib
vtkFiltersAMR-8.0-gd.lib
vtkFiltersCore-8.0-gd.lib
vtkFiltersExtraction-8.0-gd.lib
vtkFiltersFlowPaths-8.0-gd.lib
vtkFiltersGeneral-8.0-gd.lib
vtkFiltersGeneric-8.0-gd.lib
vtkFiltersGeometry-8.0-gd.lib
vtkFiltersHybrid-8.0-gd.lib
vtkFiltersHyperTree-8.0-gd.lib
vtkFiltersImaging-8.0-gd.lib
vtkFiltersModeling-8.0-gd.lib
vtkFiltersParallel-8.0-gd.lib
vtkFiltersParallelImaging-8.0-gd.lib
vtkFiltersPoints-8.0-gd.lib
vtkFiltersProgrammable-8.0-gd.lib
vtkFiltersSelection-8.0-gd.lib
vtkFiltersSMP-8.0-gd.lib
vtkFiltersSources-8.0-gd.lib
vtkFiltersStatistics-8.0-gd.lib
vtkFiltersTexture-8.0-gd.lib
vtkFiltersTopology-8.0-gd.lib
vtkFiltersVerdict-8.0-gd.lib
vtkfreetype-8.0-gd.lib
vtkGeovisCore-8.0-gd.lib
vtkgl2ps-8.0-gd.lib
vtkhdf5-8.0-gd.lib
vtkhdf5_hl-8.0-gd.lib
vtkImagingColor-8.0-gd.lib
vtkImagingCore-8.0-gd.lib
vtkImagingFourier-8.0-gd.lib
vtkImagingGeneral-8.0-gd.lib
vtkImagingHybrid-8.0-gd.lib
vtkImagingMath-8.0-gd.lib
vtkImagingMorphological-8.0-gd.lib
vtkImagingSources-8.0-gd.lib
vtkImagingStatistics-8.0-gd.lib
vtkImagingStencil-8.0-gd.lib
vtkInfovisCore-8.0-gd.lib
vtkInfovisLayout-8.0-gd.lib
vtkInteractionImage-8.0-gd.lib
vtkInteractionStyle-8.0-gd.lib
vtkInteractionWidgets-8.0-gd.lib
vtkIOAMR-8.0-gd.lib
vtkIOCore-8.0-gd.lib
vtkIOEnSight-8.0-gd.lib
vtkIOExodus-8.0-gd.lib
vtkIOExport-8.0-gd.lib
vtkIOExportOpenGL-8.0-gd.lib
vtkIOGeometry-8.0-gd.lib
vtkIOImage-8.0-gd.lib
vtkIOImport-8.0-gd.lib
vtkIOInfovis-8.0-gd.lib
vtkIOLegacy-8.0-gd.lib
vtkIOLSDyna-8.0-gd.lib
vtkIOMINC-8.0-gd.lib
vtkIOMovie-8.0-gd.lib
vtkIONetCDF-8.0-gd.lib
vtkIOParallel-8.0-gd.lib
vtkIOParallelXML-8.0-gd.lib
vtkIOPLY-8.0-gd.lib
vtkIOSQL-8.0-gd.lib
vtkIOTecplotTable-8.0-gd.lib
vtkIOVideo-8.0-gd.lib
vtkIOXML-8.0-gd.lib
vtkIOXMLParser-8.0-gd.lib
vtkjpeg-8.0-gd.lib
vtkjsoncpp-8.0-gd.lib
vtklibharu-8.0-gd.lib
vtklibxml2-8.0-gd.lib
vtklz4-8.0-gd.lib
vtkmetaio-8.0-gd.lib
vtkNetCDF-8.0-gd.lib
vtkoggtheora-8.0-gd.lib
vtkParallelCore-8.0-gd.lib
vtkpng-8.0-gd.lib
vtkproj4-8.0-gd.lib
vtkRenderingAnnotation-8.0-gd.lib
vtkRenderingContext2D-8.0-gd.lib
vtkRenderingContextOpenGL-8.0-gd.lib
vtkRenderingCore-8.0-gd.lib
vtkRenderingFreeType-8.0-gd.lib
vtkRenderingGL2PS-8.0-gd.lib
vtkRenderingImage-8.0-gd.lib
vtkRenderingLabel-8.0-gd.lib
vtkRenderingLIC-8.0-gd.lib
vtkRenderingLOD-8.0-gd.lib
vtkRenderingOpenGL-8.0-gd.lib
vtkRenderingVolume-8.0-gd.lib
vtkRenderingVolumeOpenGL-8.0-gd.lib
vtksqlite-8.0-gd.lib
vtksys-8.0-gd.lib
vtktiff-8.0-gd.lib
vtkverdict-8.0-gd.lib
vtkViewsContext2D-8.0-gd.lib
vtkViewsCore-8.0-gd.lib
vtkViewsInfovis-8.0-gd.lib
vtkzlib-8.0-gd.lib
opengl32.lib