pcl1.8.0+vs2013环境配置（详细）

pcl1.8.0+vs2013环境配置（详细）

准备

pcl版本：PCL-1.8.0-AllInOne-msvc2013-win64

vs版本：vs2013

安装

vs2013下载解压默认安装就好了。

PCL整个安装过程需要注意以下三点，其它默认即可（我是安装在D盘）：

1. 安装路径最好不要包括中文；

2. 建议勾选上“Add PCL to the system PATH for all users”；

3. 安装时，会提示安装OpenNI，这个建议安装在PCL安装路径的3rdParty下的OpenNI2文件夹中。

安装完成之后将下载好的PCL-1.8.0-AllInOne-msvc2013-win64-pdb，pdb文件拷贝到PCL ROOT下的bin文件夹中，下图是拷贝后的样子

配置

我们打开vs2013新建一个c++控制台程序，选择空项目，去掉“预编译头（P）”前的勾，去掉“安全开发生命周期（SDL）检查©”前的勾，其它默认即可。

在进去之后我们可以看见调试器右边有一个Debug 和Win32，我们需要了解的是编译出的程序分成32位和64位，不同的位数需要不同的lib和dll才能编译出来，这就需要我们下载对应的pcl版本。不同的位数的程序分成Debug和Release，vs默认的是Debug。假若需要生产上面4中程序需要分别设置对应的项目属性表。

首先将属性管理器调出来

VS默认只生成32位的程序，32位的属性管理器中只有两项：Debug|Win32以及Release|Win32，

如果需要生成64的程序，方法如下：VS界面有个运行项，后面有个debug，在后面有个叫“解决方案平台”的下拉框，其值默认为win32，需要把win32，改成x64，方法是，点win32的箭头，点“配置管理器”，点“活动解决方案平台”，点“新建”，把“键入或选择新平台”，这一项，切换为x64，然后确定，此时，原来的win32已变为x64。这时编译生成的程序就是64位版本的，相应的属性管理器中变成四项。

下面我们就可以在属性管理器中进行属性表的配置。选中其中一项，右键点击“添加新项目属性表”，在弹出的对话框里设置好对应的属性表名和路径。确认之后，在该项中就会多出一项以刚才属性表名为名称的属性表。

注：下面配置的是Debugx64的属性表！！！

在新建的属性表里，有三个必须设置的重要项目:附加包含目录，附加库目录，附加依赖项。

\1. 附加包含目录，其在项目属性“C/C++”子项的“常规”里下，主要用来设置库的头文件路径。这里设置好PCL及第三方库的头文件路径。

D:\PCL 1.8.0\include\pcl-1.8
D:\PCL 1.8.0\3rdParty\Boost\include\boost-1_59
D:\PCL 1.8.0\3rdParty\Eigen\eigen3
D:\PCL 1.8.0\3rdParty\FLANN\include
D:\PCL 1.8.0\3rdParty\OpenNI2\Include
D:\PCL 1.8.0\3rdParty\Qhull\include

D:\PCL 1.8.0\3rdParty\VTK\include\vtk-7.0

\2. 附加库目录，其在项目属性的“连接器”子项的“常规”下，主要用来设置库的lib文件路径。这里设置好设置PCL及第三方库的lib文件路径。

D:\PCL 1.8.0\lib

D:\PCL 1.8.0\3rdParty\Boost\lib

D:\PCL 1.8.0\3rdParty\FLANN\lib

D:\PCL 1.8.0\3rdParty\OpenNI2\lib

D:\PCL 1.8.0\3rdParty\Qhull\lib

D:\PCL 1.8.0\3rdParty\VTK\lib

\3. 附加依赖项，其在项目属性的“连接器”子项的“输入”下，主要用来设置编译所需的lib。这里设置好设置PCL及第三方库的lib文件名。

直接复制下面就可以。

pcl_apps_debug.lib



pcl_common_debug.lib



pcl_features_debug.lib



pcl_filters_debug.lib



pcl_io_debug.lib



pcl_io_ply_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_simulation_debug.lib



pcl_stereo_debug.lib



pcl_surface_debug.lib



pcl_tracking_debug.lib



pcl_visualization_debug.lib



libboost_atomic-vc120-mt-gd-1_59.lib



libboost_chrono-vc120-mt-gd-1_59.lib



libboost_container-vc120-mt-gd-1_59.lib



libboost_context-vc120-mt-gd-1_59.lib



libboost_coroutine-vc120-mt-gd-1_59.lib



libboost_date_time-vc120-mt-gd-1_59.lib



libboost_exception-vc120-mt-gd-1_59.lib



libboost_filesystem-vc120-mt-gd-1_59.lib



libboost_graph-vc120-mt-gd-1_59.lib



libboost_iostreams-vc120-mt-gd-1_59.lib



libboost_locale-vc120-mt-gd-1_59.lib



libboost_log-vc120-mt-gd-1_59.lib



libboost_log_setup-vc120-mt-gd-1_59.lib



libboost_math_c99-vc120-mt-gd-1_59.lib



libboost_math_c99f-vc120-mt-gd-1_59.lib



libboost_math_c99l-vc120-mt-gd-1_59.lib



libboost_math_tr1-vc120-mt-gd-1_59.lib



libboost_math_tr1f-vc120-mt-gd-1_59.lib



libboost_math_tr1l-vc120-mt-gd-1_59.lib



libboost_mpi-vc120-mt-gd-1_59.lib



libboost_prg_exec_monitor-vc120-mt-gd-1_59.lib



libboost_program_options-vc120-mt-gd-1_59.lib



libboost_random-vc120-mt-gd-1_59.lib



libboost_regex-vc120-mt-gd-1_59.lib



libboost_serialization-vc120-mt-gd-1_59.lib



libboost_signals-vc120-mt-gd-1_59.lib



libboost_system-vc120-mt-gd-1_59.lib



libboost_test_exec_monitor-vc120-mt-gd-1_59.lib



libboost_thread-vc120-mt-gd-1_59.lib



libboost_timer-vc120-mt-gd-1_59.lib



libboost_unit_test_framework-vc120-mt-gd-1_59.lib



libboost_wave-vc120-mt-gd-1_59.lib



libboost_wserialization-vc120-mt-gd-1_59.lib



flann_cpp_s-gd.lib



flann_s-gd.lib



flann-gd.lib



OpenNI2.lib



qhullstatic_r-gd.lib



qhull_p-gd.lib



qhull_r-gd.lib



qhullcpp-gd.lib



qhull-gd.lib



qhullstatic-gd.lib



 vtkalglib-7.0-gd.lib



 vtkChartsCore-7.0-gd.lib



 vtkCommonColor-7.0-gd.lib



 vtkCommonComputationalGeometry-7.0-gd.lib



vtkCommonCore-7.0-gd.lib



vtkCommonDataModel-7.0-gd.lib



 vtkCommonExecutionModel-7.0-gd.lib



 vtkCommonMath-7.0-gd.lib



 vtkCommonMisc-7.0-gd.lib



 vtkCommonSystem-7.0-gd.lib



 vtkCommonTransforms-7.0-gd.lib



 vtkDICOMParser-7.0-gd.lib



 vtkDomainsChemistry-7.0-gd.lib



 vtkDomainsChemistryOpenGL2-7.0-gd.lib



 vtkexoIIc-7.0-gd.lib



 vtkexpat-7.0-gd.lib



 vtkFiltersAMR-7.0-gd.lib



vtkFiltersCore-7.0-gd.lib



 vtkFiltersExtraction-7.0-gd.lib



 vtkFiltersFlowPaths-7.0-gd.lib



vtkFiltersGeneral-7.0-gd.lib



 vtkFiltersGeneric-7.0-gd.lib



 vtkFiltersGeometry-7.0-gd.lib



 vtkFiltersHybrid-7.0-gd.lib



 vtkFiltersHyperTree-7.0-gd.lib



 vtkFiltersImaging-7.0-gd.lib



 vtkFiltersModeling-7.0-gd.lib



 vtkFiltersParallel-7.0-gd.lib



 vtkFiltersParallelImaging-7.0-gd.lib



 vtkFiltersProgrammable-7.0-gd.lib



 vtkFiltersSelection-7.0-gd.lib



 vtkFiltersSMP-7.0-gd.lib



 vtkFiltersSources-7.0-gd.lib



 vtkFiltersStatistics-7.0-gd.lib



 vtkFiltersTexture-7.0-gd.lib



 vtkFiltersVerdict-7.0-gd.lib



 vtkfreetype-7.0-gd.lib



 vtkGeovisCore-7.0-gd.lib



 vtkglew-7.0-gd.lib



 vtkGUISupportQt-7.0-gd.lib



 vtkGUISupportQtSQL-7.0-gd.lib



 vtkhdf5-7.0-gd.lib



 vtkhdf5_hl-7.0-gd.lib



 vtkImagingColor-7.0-gd.lib



 vtkImagingCore-7.0-gd.lib



 vtkImagingFourier-7.0-gd.lib



 vtkImagingGeneral-7.0-gd.lib



 vtkImagingHybrid-7.0-gd.lib



 vtkImagingMath-7.0-gd.lib



 vtkImagingMorphological-7.0-gd.lib



 vtkImagingSources-7.0-gd.lib



 vtkImagingStatistics-7.0-gd.lib



 vtkImagingStencil-7.0-gd.lib



 vtkInfovisCore-7.0-gd.lib



 vtkInfovisLayout-7.0-gd.lib



 vtkInteractionImage-7.0-gd.lib



 vtkInteractionStyle-7.0-gd.lib



vtkInteractionWidgets-7.0-gd.lib



 vtkIOAMR-7.0-gd.lib



 vtkIOCore-7.0-gd.lib



 vtkIOEnSight-7.0-gd.lib



 vtkIOExodus-7.0-gd.lib



 vtkIOExport-7.0-gd.lib



 vtkIOGeometry-7.0-gd.lib



 vtkIOImage-7.0-gd.lib



 vtkIOImport-7.0-gd.lib



 vtkIOInfovis-7.0-gd.lib



 vtkIOLegacy-7.0-gd.lib



 vtkIOLSDyna-7.0-gd.lib



 vtkIOMINC-7.0-gd.lib



 vtkIOMovie-7.0-gd.lib



 vtkIONetCDF-7.0-gd.lib



 vtkIOParallel-7.0-gd.lib



vtkIOParallelXML-7.0-gd.lib



vtkIOPLY-7.0-gd.lib



vtkIOSQL-7.0-gd.lib



vtkIOVideo-7.0-gd.lib



vtkIOXML-7.0-gd.lib



vtkIOXMLParser-7.0-gd.lib



vtkjpeg-7.0-gd.lib



vtkjsoncpp-7.0-gd.lib



vtklibxml2-7.0-gd.lib



vtkmetaio-7.0-gd.lib



vtkNetCDF-7.0-gd.lib



vtkNetCDF_cxx-7.0-gd.lib



vtkoggtheora-7.0-gd.lib



vtkParallelCore-7.0-gd.lib



vtkpng-7.0-gd.lib



 vtkproj4-7.0-gd.lib



 vtkRenderingAnnotation-7.0-gd.lib



 vtkRenderingContext2D-7.0-gd.lib



 vtkRenderingContextOpenGL2-7.0-gd.lib



vtkRenderingCore-7.0-gd.lib



 vtkRenderingFreeType-7.0-gd.lib



 vtkRenderingImage-7.0-gd.lib



 vtkRenderingLabel-7.0-gd.lib



 vtkRenderingLOD-7.0-gd.lib



 vtkRenderingOpenGL2-7.0-gd.lib



 vtkRenderingQt-7.0-gd.lib



 vtkRenderingVolume-7.0-gd.lib



 vtkRenderingVolumeOpenGL2-7.0-gd.lib



vtksqlite-7.0-gd.lib



 vtksys-7.0-gd.lib



 vtktiff-7.0-gd.lib



 vtkverdict-7.0-gd.lib



 vtkViewsContext2D-7.0-gd.lib



 vtkViewsCore-7.0-gd.lib



 vtkViewsInfovis-7.0-gd.lib



 vtkViewsQt-7.0-gd.lib



 vtkzlib-7.0-gd.lib

Releasex64版本的附加依赖项：

pcl_common_release.lib



pcl_features_release.lib



pcl_filters_release.lib



pcl_io_ply_release.lib



pcl_io_release.lib



pcl_kdtree_release.lib



pcl_keypoints_release.lib



pcl_ml_release.lib



pcl_octree_release.lib



pcl_outofcore_release.lib



pcl_people_release.lib



pcl_recognition_release.lib



pcl_registration_release.lib



pcl_sample_consensus_release.lib



pcl_search_release.lib



pcl_segmentation_release.lib



pcl_stereo_release.lib



pcl_surface_release.lib



pcl_tracking_release.lib



pcl_visualization_release.lib



libboost_atomic-vc120-mt-1_59.lib



libboost_chrono-vc120-mt-1_59.lib



libboost_container-vc120-mt-1_59.lib



libboost_context-vc120-mt-1_59.lib



libboost_coroutine-vc120-mt-1_59.lib



libboost_date_time-vc120-mt-1_59.lib



libboost_exception-vc120-mt-1_59.lib



libboost_filesystem-vc120-mt-1_59.lib



libboost_graph-vc120-mt-1_59.lib



libboost_iostreams-vc120-mt-1_59.lib



libboost_locale-vc120-mt-1_59.lib



libboost_log-vc120-mt-1_59.lib



libboost_log_setup-vc120-mt-1_59.lib



libboost_math_c99-vc120-mt-1_59.lib



libboost_math_c99f-vc120-mt-1_59.lib



libboost_math_c99l-vc120-mt-1_59.lib



libboost_math_tr1-vc120-mt-1_59.lib



libboost_math_tr1f-vc120-mt-1_59.lib



libboost_math_tr1l-vc120-mt-1_59.lib



libboost_mpi-vc120-mt-1_59.lib



libboost_prg_exec_monitor-vc120-mt-1_59.lib



libboost_program_options-vc120-mt-1_59.lib



libboost_random-vc120-mt-1_59.lib



libboost_regex-vc120-mt-1_59.lib



libboost_serialization-vc120-mt-1_59.lib



libboost_signals-vc120-mt-1_59.lib



libboost_system-vc120-mt-1_59.lib



libboost_test_exec_monitor-vc120-mt-1_59.lib



libboost_thread-vc120-mt-1_59.lib



libboost_timer-vc120-mt-1_59.lib



libboost_unit_test_framework-vc120-mt-1_59.lib



libboost_wave-vc120-mt-1_59.lib



libboost_wserialization-vc120-mt-1_59.lib



flann_cpp_s.lib



flann_s.lib



qhull.lib



qhullcpp.lib



qhullstatic.lib



qhullstatic_r.lib



qhull_p.lib



qhull_r.lib



vtkalglib-7.0.lib



vtkChartsCore-7.0.lib



vtkCommonColor-7.0.lib



vtkCommonComputationalGeometry-7.0.lib



vtkCommonCore-7.0.lib



vtkCommonDataModel-7.0.lib



vtkCommonExecutionModel-7.0.lib



vtkCommonMath-7.0.lib



vtkCommonMisc-7.0.lib



vtkCommonSystem-7.0.lib



vtkCommonTransforms-7.0.lib



vtkDICOMParser-7.0.lib



vtkDomainsChemistry-7.0.lib



vtkDomainsChemistryOpenGL2-7.0.lib



vtkexoIIc-7.0.lib



vtkexpat-7.0.lib



vtkFiltersAMR-7.0.lib



vtkFiltersCore-7.0.lib



vtkFiltersExtraction-7.0.lib



vtkFiltersFlowPaths-7.0.lib



vtkFiltersGeneral-7.0.lib



vtkFiltersGeneric-7.0.lib



vtkFiltersGeometry-7.0.lib



vtkFiltersHybrid-7.0.lib



vtkFiltersHyperTree-7.0.lib



vtkFiltersImaging-7.0.lib



vtkFiltersModeling-7.0.lib



vtkFiltersParallel-7.0.lib



vtkFiltersParallelImaging-7.0.lib



vtkFiltersProgrammable-7.0.lib



vtkFiltersSelection-7.0.lib



vtkFiltersSMP-7.0.lib



vtkFiltersSources-7.0.lib



vtkFiltersStatistics-7.0.lib



vtkFiltersTexture-7.0.lib



vtkFiltersVerdict-7.0.lib



vtkfreetype-7.0.lib



vtkGeovisCore-7.0.lib



vtkglew-7.0.lib



vtkGUISupportQt-7.0.lib



vtkGUISupportQtSQL-7.0.lib



vtkhdf5-7.0.lib



vtkhdf5_hl-7.0.lib



vtkImagingColor-7.0.lib



vtkImagingCore-7.0.lib



vtkImagingFourier-7.0.lib



vtkImagingGeneral-7.0.lib



vtkImagingHybrid-7.0.lib



vtkImagingMath-7.0.lib



vtkImagingMorphological-7.0.lib



vtkImagingSources-7.0.lib



vtkImagingStatistics-7.0.lib



vtkImagingStencil-7.0.lib



vtkInfovisCore-7.0.lib



vtkInfovisLayout-7.0.lib



vtkInteractionImage-7.0.lib



vtkInteractionStyle-7.0.lib



vtkInteractionWidgets-7.0.lib



vtkIOAMR-7.0.lib



vtkIOCore-7.0.lib



vtkIOEnSight-7.0.lib



vtkIOExodus-7.0.lib



vtkIOExport-7.0.lib



vtkIOGeometry-7.0.lib



vtkIOImage-7.0.lib



vtkIOImport-7.0.lib



vtkIOInfovis-7.0.lib



vtkIOLegacy-7.0.lib



vtkIOLSDyna-7.0.lib



vtkIOMINC-7.0.lib



vtkIOMovie-7.0.lib



vtkIONetCDF-7.0.lib



vtkIOParallel-7.0.lib



vtkIOParallelXML-7.0.lib



vtkIOPLY-7.0.lib



vtkIOSQL-7.0.lib



vtkIOVideo-7.0.lib



vtkIOXML-7.0.lib



vtkIOXMLParser-7.0.lib



vtkjpeg-7.0.lib



vtkjsoncpp-7.0.lib



vtklibxml2-7.0.lib



vtkmetaio-7.0.lib



vtkNetCDF-7.0.lib



vtkNetCDF_cxx-7.0.lib



vtkoggtheora-7.0.lib



vtkParallelCore-7.0.lib



vtkpng-7.0.lib



vtkproj4-7.0.lib



vtkRenderingAnnotation-7.0.lib



vtkRenderingContext2D-7.0.lib



vtkRenderingContextOpenGL2-7.0.lib



vtkRenderingCore-7.0.lib



vtkRenderingFreeType-7.0.lib



vtkRenderingImage-7.0.lib



vtkRenderingLabel-7.0.lib



vtkRenderingLOD-7.0.lib



vtkRenderingOpenGL2-7.0.lib



vtkRenderingQt-7.0.lib



vtkRenderingVolume-7.0.lib



vtkRenderingVolumeOpenGL2-7.0.lib



vtksqlite-7.0.lib



vtksys-7.0.lib



vtktiff-7.0.lib



vtkverdict-7.0.lib



vtkViewsContext2D-7.0.lib



vtkViewsCore-7.0.lib



vtkViewsInfovis-7.0.lib



vtkViewsQt-7.0.lib



vtkzlib-7.0.lib

配置完属性表之后还需要配置dll。

配置dll有四种方法：

第一种，把dll拷贝到system32里去，

第二种，把dll拷贝到编译出来的程序的文件中，

第三种，直接配置到项目中。

本文采用第四种方法，在系统的path中添加dll的路径。具体方法如下：

首先将打开控制面板\系统和安全\系统->高级系统设置->环境变量

修改path路径在后面添加下面的文字：

;%PCL_ROOT%\bin
;%PCL_ROOT%\3rdParty\Qhull\bin
;%PCL_ROOT%\3rdParty\FLANN\bin
;%PCL_ROOT%\3rdParty\VTK\bin
;%PCL_ROOT%\3rdParty\OpenNI2\Tools

这样环境就配置完成了。

测试

代码：

#include 
#include 
#include 
#include 
#include 
#include 
int user_data;
void viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
     
	viewer.setBackgroundColor(1.0, 0.5, 1.0);
	pcl::PointXYZ o;
	o.x = 1.0;
	o.y = 0;
	o.z = 0;
	viewer.addSphere(o, 0.25, "sphere", 0);
	std::cout << "i only run once" << std::endl;
}
void viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
{
     
	static unsigned count = 0;
	std::stringstream ss;
	ss << "Once per viewer loop: " << count++;
	viewer.removeShape("text", 0);
	viewer.addText(ss.str(), 200, 300, "text", 0);
	//FIXME: possible race condition here:
	user_data++;
}

int main()
{
     
	pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
	pcl::io::loadPCDFile("test_cloud.pcd", *cloud);
	pcl::visualization::CloudViewer viewer("Cloud Viewer");
	//blocks until the cloud is actually rendere
	viewer.showCloud(cloud);
	//use the following functions to get access to the underlying more advanced/powerfu
	//PCLVisualizer
	//This will only get called once
	viewer.runOnVisualizationThreadOnce(viewerOneOff);
	//This will get called once per visualization iteratio
	viewer.runOnVisualizationThread(viewerPsycho);
	while (!viewer.wasStopped())

	{
     
		std::cout << cloud->width << endl;
		std::cout << cloud->height << endl;
		//you can also do cool processing her
		//FIXME: Note that this is running in a separate thread from viewerPsych
		//and you should guard against race conditions yourself...
		user_data++;
	}

	return 0;
}

可能会缺少test_cloud.pcd，造成没有点云显示，也无伤大雅。

最终的测试显示。

本文在参考一些博客之后，发觉都不是很详细，特此写下这篇文章以供初学者更清楚的配置。