点云库 PCL 1.9.1 windows10, vs2017 环境配置 安装出图

1. 先下载 PCL-1.9.1-AllInOne-msvc2017-win64.exe 档案并安装,我的安装目录是D:\service\pcl\PCL 1.9.1

2. 然后安装D:\service\pcl\PCL 1.9.1\3rdParty\OpenNI2 目录下的OpenNI-Windows-x64-2.2.msi ,默认安装路径是C:\Program Files\OpenNI2

3. 打开VS开一个新的project

4. 添加include目录

D:\service\pcl\PCL 1.9.1\include\pcl-1.9
D:\service\pcl\PCL 1.9.1\3rdParty\Boost\include\boost-1_68
D:\service\pcl\PCL 1.9.1\3rdParty\Eigen\eigen3
D:\service\pcl\PCL 1.9.1\3rdParty\FLANN\include
D:\service\pcl\PCL 1.9.1\3rdParty\Qhull\include
D:\service\pcl\PCL 1.9.1\3rdParty\VTK\include\vtk-8.1

5. 添加lib目录

D:\service\pcl\PCL 1.9.1\lib
D:\service\pcl\PCL 1.9.1\3rdParty\Boost\lib
D:\service\pcl\PCL 1.9.1\3rdParty\FLANN\lib
D:\service\pcl\PCL 1.9.1\3rdParty\Qhull\lib
D:\service\pcl\PCL 1.9.1\3rdParty\VTK\lib
C:\Program Files\OpenNI2\Lib

6. 添加lib项目(用代码跑的)

结果太长了放在文章最后面

Java代码如下

import java.io.File;
import java.util.ArrayList;
public class List {
    public static void main(String[] args) {

        ArrayList list = new ArrayList<>();
        list.add("D:\\service\\pcl\\PCL 1.9.1\\lib");
        list.add("D:\\service\\pcl\\PCL 1.9.1\\3rdParty\\Boost\\lib");
        list.add("D:\\service\\pcl\\PCL 1.9.1\\3rdParty\\FLANN\\lib");
        list.add("D:\\service\\pcl\\PCL 1.9.1\\3rdParty\\Qhull\\lib");
        list.add("D:\\service\\pcl\\PCL 1.9.1\\3rdParty\\VTK\\lib");
        list.add("C:\\Program Files\\OpenNI2\\Lib");

        for (int i = 0; i < list.size(); i++) {
            File file=new File(list.get(i));
            File[] files = file.listFiles();
            for (File f : files) {
                String name = f.getName();
                if (name.endsWith(".lib")) {
                    System.out.println(name);

}}}}}

7. 新建立一个dll文件夹D:\service\pcl\PCL_1.9.1_dll, 把pcl安装目录和openni的安装目录下的dll全部拷贝进去

在vs 配置 dll的路径 PATH=D:\service\pcl\PCL_1.9.1_dll

8. 网上找一个pcd的文件, 我用的是这个,雷锋给的不用积分

https://download.csdn.net/download/qq_25669417/10767973

 

9. 运行代码

#define _CRT_SECURE_NO_WARNINGS
#define _SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING

#include "pch.h"
#include
#include
#include
#include
#include 

int main(int argc, char *argv[])
{
	pcl::PointCloud::Ptr  cloud(new pcl::PointCloud);
	pcl::io::loadPCDFile("D:/service/pcl/pcd_samples/TrsfResult0.pcd", *cloud);

	if (pcl::io::loadPCDFile("D:/service/pcl/pcd_samples/TrsfResult0.pcd", *cloud) == -1)
	{
		std::cout << "Cloud reading failed." << std::endl;
		system("pause");
		return (-1);
	}

	//std::cout << cloud->width << std::endl;
	//std::cout << cloud->height;

	pcl::visualization::CloudViewer viewer("Simple Cloud Viewer");
	viewer.showCloud(cloud);
	while (!viewer.wasStopped())
	{
	}
	system("pause");
	return (0);
}

 

10. 出图

 

 

--------------------------------------------------------------------------------------------------------------------------------------------------------

PCL 1.9.1全部的lib

pcl_common_debug.lib

pcl_common_release.lib

pcl_features_debug.lib

pcl_features_release.lib

pcl_filters_debug.lib

pcl_filters_release.lib

pcl_io_debug.lib

pcl_io_ply_debug.lib

pcl_io_ply_release.lib

pcl_io_release.lib

pcl_kdtree_debug.lib

pcl_kdtree_release.lib

pcl_keypoints_debug.lib

pcl_keypoints_release.lib

pcl_ml_debug.lib

pcl_ml_release.lib

pcl_octree_debug.lib

pcl_octree_release.lib

pcl_outofcore_debug.lib

pcl_outofcore_release.lib

pcl_people_debug.lib

pcl_people_release.lib

pcl_recognition_debug.lib

pcl_recognition_release.lib

pcl_registration_debug.lib

pcl_registration_release.lib

pcl_sample_consensus_debug.lib

pcl_sample_consensus_release.lib

pcl_search_debug.lib

pcl_search_release.lib

pcl_segmentation_debug.lib

pcl_segmentation_release.lib

pcl_stereo_debug.lib

pcl_stereo_release.lib

pcl_surface_debug.lib

pcl_surface_release.lib

pcl_tracking_debug.lib

pcl_tracking_release.lib

pcl_visualization_debug.lib

pcl_visualization_release.lib

libboost_atomic-vc141-mt-gd-x64-1_68.lib

libboost_atomic-vc141-mt-x64-1_68.lib

libboost_bzip2-vc141-mt-gd-x64-1_68.lib

libboost_bzip2-vc141-mt-x64-1_68.lib

libboost_chrono-vc141-mt-gd-x64-1_68.lib

libboost_chrono-vc141-mt-x64-1_68.lib

libboost_container-vc141-mt-gd-x64-1_68.lib

libboost_container-vc141-mt-x64-1_68.lib

libboost_context-vc141-mt-gd-x64-1_68.lib

libboost_context-vc141-mt-x64-1_68.lib

libboost_contract-vc141-mt-gd-x64-1_68.lib

libboost_contract-vc141-mt-x64-1_68.lib

libboost_coroutine-vc141-mt-gd-x64-1_68.lib

libboost_coroutine-vc141-mt-x64-1_68.lib

libboost_date_time-vc141-mt-gd-x64-1_68.lib

libboost_date_time-vc141-mt-x64-1_68.lib

libboost_exception-vc141-mt-gd-x64-1_68.lib

libboost_exception-vc141-mt-x64-1_68.lib

libboost_fiber-vc141-mt-gd-x64-1_68.lib

libboost_fiber-vc141-mt-x64-1_68.lib

libboost_filesystem-vc141-mt-gd-x64-1_68.lib

libboost_filesystem-vc141-mt-x64-1_68.lib

libboost_graph-vc141-mt-gd-x64-1_68.lib

libboost_graph-vc141-mt-x64-1_68.lib

libboost_graph_parallel-vc141-mt-gd-x64-1_68.lib

libboost_graph_parallel-vc141-mt-x64-1_68.lib

libboost_iostreams-vc141-mt-gd-x64-1_68.lib

libboost_iostreams-vc141-mt-x64-1_68.lib

libboost_locale-vc141-mt-gd-x64-1_68.lib

libboost_locale-vc141-mt-x64-1_68.lib

libboost_log-vc141-mt-gd-x64-1_68.lib

libboost_log-vc141-mt-x64-1_68.lib

libboost_log_setup-vc141-mt-gd-x64-1_68.lib

libboost_log_setup-vc141-mt-x64-1_68.lib

libboost_math_c99-vc141-mt-gd-x64-1_68.lib

libboost_math_c99-vc141-mt-x64-1_68.lib

libboost_math_c99f-vc141-mt-gd-x64-1_68.lib

libboost_math_c99f-vc141-mt-x64-1_68.lib

libboost_math_c99l-vc141-mt-gd-x64-1_68.lib

libboost_math_c99l-vc141-mt-x64-1_68.lib

libboost_math_tr1-vc141-mt-gd-x64-1_68.lib

libboost_math_tr1-vc141-mt-x64-1_68.lib

libboost_math_tr1f-vc141-mt-gd-x64-1_68.lib

libboost_math_tr1f-vc141-mt-x64-1_68.lib

libboost_math_tr1l-vc141-mt-gd-x64-1_68.lib

libboost_math_tr1l-vc141-mt-x64-1_68.lib

libboost_mpi-vc141-mt-gd-x64-1_68.lib

libboost_mpi-vc141-mt-x64-1_68.lib

libboost_numpy27-vc141-mt-gd-x64-1_68.lib

libboost_numpy27-vc141-mt-x64-1_68.lib

libboost_numpy37-vc141-mt-gd-x64-1_68.lib

libboost_numpy37-vc141-mt-x64-1_68.lib

libboost_prg_exec_monitor-vc141-mt-gd-x64-1_68.lib

libboost_prg_exec_monitor-vc141-mt-x64-1_68.lib

libboost_program_options-vc141-mt-gd-x64-1_68.lib

libboost_program_options-vc141-mt-x64-1_68.lib

libboost_python27-vc141-mt-gd-x64-1_68.lib

libboost_python27-vc141-mt-x64-1_68.lib

libboost_python37-vc141-mt-gd-x64-1_68.lib

libboost_python37-vc141-mt-x64-1_68.lib

libboost_random-vc141-mt-gd-x64-1_68.lib

libboost_random-vc141-mt-x64-1_68.lib

libboost_regex-vc141-mt-gd-x64-1_68.lib

libboost_regex-vc141-mt-x64-1_68.lib

libboost_serialization-vc141-mt-gd-x64-1_68.lib

libboost_serialization-vc141-mt-x64-1_68.lib

libboost_signals-vc141-mt-gd-x64-1_68.lib

libboost_signals-vc141-mt-x64-1_68.lib

libboost_stacktrace_noop-vc141-mt-gd-x64-1_68.lib

libboost_stacktrace_noop-vc141-mt-x64-1_68.lib

libboost_stacktrace_windbg-vc141-mt-gd-x64-1_68.lib

libboost_stacktrace_windbg-vc141-mt-x64-1_68.lib

libboost_stacktrace_windbg_cached-vc141-mt-gd-x64-1_68.lib

libboost_stacktrace_windbg_cached-vc141-mt-x64-1_68.lib

libboost_system-vc141-mt-gd-x64-1_68.lib

libboost_system-vc141-mt-x64-1_68.lib

libboost_test_exec_monitor-vc141-mt-gd-x64-1_68.lib

libboost_test_exec_monitor-vc141-mt-x64-1_68.lib

libboost_thread-vc141-mt-gd-x64-1_68.lib

libboost_thread-vc141-mt-x64-1_68.lib

libboost_timer-vc141-mt-gd-x64-1_68.lib

libboost_timer-vc141-mt-x64-1_68.lib

libboost_type_erasure-vc141-mt-gd-x64-1_68.lib

libboost_type_erasure-vc141-mt-x64-1_68.lib

libboost_unit_test_framework-vc141-mt-gd-x64-1_68.lib

libboost_unit_test_framework-vc141-mt-x64-1_68.lib

libboost_wave-vc141-mt-gd-x64-1_68.lib

libboost_wave-vc141-mt-x64-1_68.lib

libboost_wserialization-vc141-mt-gd-x64-1_68.lib

libboost_wserialization-vc141-mt-x64-1_68.lib

libboost_zlib-vc141-mt-gd-x64-1_68.lib

libboost_zlib-vc141-mt-x64-1_68.lib

flann-gd.lib

flann.lib

flann_cpp-gd.lib

flann_cpp.lib

flann_cpp_s-gd.lib

flann_cpp_s.lib

flann_s-gd.lib

flann_s.lib

qhull.lib

qhullcpp.lib

qhullcpp_d.lib

qhullstatic.lib

qhullstatic_d.lib

qhullstatic_r.lib

qhullstatic_r_d.lib

qhull_d.lib

qhull_p.lib

qhull_p_d.lib

qhull_r.lib

qhull_r_d.lib

vtkalglib-8.1-gd.lib

vtkalglib-8.1.lib

vtkChartsCore-8.1-gd.lib

vtkChartsCore-8.1.lib

vtkCommonColor-8.1-gd.lib

vtkCommonColor-8.1.lib

vtkCommonComputationalGeometry-8.1-gd.lib

vtkCommonComputationalGeometry-8.1.lib

vtkCommonCore-8.1-gd.lib

vtkCommonCore-8.1.lib

vtkCommonDataModel-8.1-gd.lib

vtkCommonDataModel-8.1.lib

vtkCommonExecutionModel-8.1-gd.lib

vtkCommonExecutionModel-8.1.lib

vtkCommonMath-8.1-gd.lib

vtkCommonMath-8.1.lib

vtkCommonMisc-8.1-gd.lib

vtkCommonMisc-8.1.lib

vtkCommonSystem-8.1-gd.lib

vtkCommonSystem-8.1.lib

vtkCommonTransforms-8.1-gd.lib

vtkCommonTransforms-8.1.lib

vtkDICOMParser-8.1-gd.lib

vtkDICOMParser-8.1.lib

vtkDomainsChemistry-8.1-gd.lib

vtkDomainsChemistry-8.1.lib

vtkexoIIc-8.1-gd.lib

vtkexoIIc-8.1.lib

vtkexpat-8.1-gd.lib

vtkexpat-8.1.lib

vtkFiltersAMR-8.1-gd.lib

vtkFiltersAMR-8.1.lib

vtkFiltersCore-8.1-gd.lib

vtkFiltersCore-8.1.lib

vtkFiltersExtraction-8.1-gd.lib

vtkFiltersExtraction-8.1.lib

vtkFiltersFlowPaths-8.1-gd.lib

vtkFiltersFlowPaths-8.1.lib

vtkFiltersGeneral-8.1-gd.lib

vtkFiltersGeneral-8.1.lib

vtkFiltersGeneric-8.1-gd.lib

vtkFiltersGeneric-8.1.lib

vtkFiltersGeometry-8.1-gd.lib

vtkFiltersGeometry-8.1.lib

vtkFiltersHybrid-8.1-gd.lib

vtkFiltersHybrid-8.1.lib

vtkFiltersHyperTree-8.1-gd.lib

vtkFiltersHyperTree-8.1.lib

vtkFiltersImaging-8.1-gd.lib

vtkFiltersImaging-8.1.lib

vtkFiltersModeling-8.1-gd.lib

vtkFiltersModeling-8.1.lib

vtkFiltersParallel-8.1-gd.lib

vtkFiltersParallel-8.1.lib

vtkFiltersParallelImaging-8.1-gd.lib

vtkFiltersParallelImaging-8.1.lib

vtkFiltersPoints-8.1-gd.lib

vtkFiltersPoints-8.1.lib

vtkFiltersProgrammable-8.1-gd.lib

vtkFiltersProgrammable-8.1.lib

vtkFiltersSelection-8.1-gd.lib

vtkFiltersSelection-8.1.lib

vtkFiltersSMP-8.1-gd.lib

vtkFiltersSMP-8.1.lib

vtkFiltersSources-8.1-gd.lib

vtkFiltersSources-8.1.lib

vtkFiltersStatistics-8.1-gd.lib

vtkFiltersStatistics-8.1.lib

vtkFiltersTexture-8.1-gd.lib

vtkFiltersTexture-8.1.lib

vtkFiltersTopology-8.1-gd.lib

vtkFiltersTopology-8.1.lib

vtkFiltersVerdict-8.1-gd.lib

vtkFiltersVerdict-8.1.lib

vtkfreetype-8.1-gd.lib

vtkfreetype-8.1.lib

vtkGeovisCore-8.1-gd.lib

vtkGeovisCore-8.1.lib

vtkgl2ps-8.1-gd.lib

vtkgl2ps-8.1.lib

vtkhdf5-8.1-gd.lib

vtkhdf5-8.1.lib

vtkhdf5_hl-8.1-gd.lib

vtkhdf5_hl-8.1.lib

vtkImagingColor-8.1-gd.lib

vtkImagingColor-8.1.lib

vtkImagingCore-8.1-gd.lib

vtkImagingCore-8.1.lib

vtkImagingFourier-8.1-gd.lib

vtkImagingFourier-8.1.lib

vtkImagingGeneral-8.1-gd.lib

vtkImagingGeneral-8.1.lib

vtkImagingHybrid-8.1-gd.lib

vtkImagingHybrid-8.1.lib

vtkImagingMath-8.1-gd.lib

vtkImagingMath-8.1.lib

vtkImagingMorphological-8.1-gd.lib

vtkImagingMorphological-8.1.lib

vtkImagingSources-8.1-gd.lib

vtkImagingSources-8.1.lib

vtkImagingStatistics-8.1-gd.lib

vtkImagingStatistics-8.1.lib

vtkImagingStencil-8.1-gd.lib

vtkImagingStencil-8.1.lib

vtkInfovisCore-8.1-gd.lib

vtkInfovisCore-8.1.lib

vtkInfovisLayout-8.1-gd.lib

vtkInfovisLayout-8.1.lib

vtkInteractionImage-8.1-gd.lib

vtkInteractionImage-8.1.lib

vtkInteractionStyle-8.1-gd.lib

vtkInteractionStyle-8.1.lib

vtkInteractionWidgets-8.1-gd.lib

vtkInteractionWidgets-8.1.lib

vtkIOAMR-8.1-gd.lib

vtkIOAMR-8.1.lib

vtkIOCore-8.1-gd.lib

vtkIOCore-8.1.lib

vtkIOEnSight-8.1-gd.lib

vtkIOEnSight-8.1.lib

vtkIOExodus-8.1-gd.lib

vtkIOExodus-8.1.lib

vtkIOExport-8.1-gd.lib

vtkIOExport-8.1.lib

vtkIOExportOpenGL-8.1-gd.lib

vtkIOExportOpenGL-8.1.lib

vtkIOGeometry-8.1-gd.lib

vtkIOGeometry-8.1.lib

vtkIOImage-8.1-gd.lib

vtkIOImage-8.1.lib

vtkIOImport-8.1-gd.lib

vtkIOImport-8.1.lib

vtkIOInfovis-8.1-gd.lib

vtkIOInfovis-8.1.lib

vtkIOLegacy-8.1-gd.lib

vtkIOLegacy-8.1.lib

vtkIOLSDyna-8.1-gd.lib

vtkIOLSDyna-8.1.lib

vtkIOMINC-8.1-gd.lib

vtkIOMINC-8.1.lib

vtkIOMovie-8.1-gd.lib

vtkIOMovie-8.1.lib

vtkIONetCDF-8.1-gd.lib

vtkIONetCDF-8.1.lib

vtkIOParallel-8.1-gd.lib

vtkIOParallel-8.1.lib

vtkIOParallelXML-8.1-gd.lib

vtkIOParallelXML-8.1.lib

vtkIOPLY-8.1-gd.lib

vtkIOPLY-8.1.lib

vtkIOSQL-8.1-gd.lib

vtkIOSQL-8.1.lib

vtkIOTecplotTable-8.1-gd.lib

vtkIOTecplotTable-8.1.lib

vtkIOVideo-8.1-gd.lib

vtkIOVideo-8.1.lib

vtkIOXML-8.1-gd.lib

vtkIOXML-8.1.lib

vtkIOXMLParser-8.1-gd.lib

vtkIOXMLParser-8.1.lib

vtkjpeg-8.1-gd.lib

vtkjpeg-8.1.lib

vtkjsoncpp-8.1-gd.lib

vtkjsoncpp-8.1.lib

vtklibharu-8.1-gd.lib

vtklibharu-8.1.lib

vtklibxml2-8.1-gd.lib

vtklibxml2-8.1.lib

vtklz4-8.1-gd.lib

vtklz4-8.1.lib

vtkmetaio-8.1-gd.lib

vtkmetaio-8.1.lib

vtkNetCDF-8.1-gd.lib

vtkNetCDF-8.1.lib

vtknetcdfcpp-8.1-gd.lib

vtknetcdfcpp-8.1.lib

vtkoggtheora-8.1-gd.lib

vtkoggtheora-8.1.lib

vtkParallelCore-8.1-gd.lib

vtkParallelCore-8.1.lib

vtkpng-8.1-gd.lib

vtkpng-8.1.lib

vtkproj4-8.1-gd.lib

vtkproj4-8.1.lib

vtkRenderingAnnotation-8.1-gd.lib

vtkRenderingAnnotation-8.1.lib

vtkRenderingContext2D-8.1-gd.lib

vtkRenderingContext2D-8.1.lib

vtkRenderingContextOpenGL-8.1-gd.lib

vtkRenderingContextOpenGL-8.1.lib

vtkRenderingCore-8.1-gd.lib

vtkRenderingCore-8.1.lib

vtkRenderingFreeType-8.1-gd.lib

vtkRenderingFreeType-8.1.lib

vtkRenderingGL2PS-8.1-gd.lib

vtkRenderingGL2PS-8.1.lib

vtkRenderingImage-8.1-gd.lib

vtkRenderingImage-8.1.lib

vtkRenderingLabel-8.1-gd.lib

vtkRenderingLabel-8.1.lib

vtkRenderingLIC-8.1-gd.lib

vtkRenderingLIC-8.1.lib

vtkRenderingLOD-8.1-gd.lib

vtkRenderingLOD-8.1.lib

vtkRenderingOpenGL-8.1-gd.lib

vtkRenderingOpenGL-8.1.lib

vtkRenderingVolume-8.1-gd.lib

vtkRenderingVolume-8.1.lib

vtkRenderingVolumeOpenGL-8.1-gd.lib

vtkRenderingVolumeOpenGL-8.1.lib

vtksqlite-8.1-gd.lib

vtksqlite-8.1.lib

vtksys-8.1-gd.lib

vtksys-8.1.lib

vtktiff-8.1-gd.lib

vtktiff-8.1.lib

vtkverdict-8.1-gd.lib

vtkverdict-8.1.lib

vtkViewsContext2D-8.1-gd.lib

vtkViewsContext2D-8.1.lib

vtkViewsCore-8.1-gd.lib

vtkViewsCore-8.1.lib

vtkViewsInfovis-8.1-gd.lib

vtkViewsInfovis-8.1.lib

vtkzlib-8.1-gd.lib

vtkzlib-8.1.lib

OpenNI2.lib