Win10+VS2019+PCL1.12.1配置方法

一. 下载PCL1.11.1的安装文件

1）下载PCL1.11.1的相关文件： https://github.com/PointCloudLibrary/pcl/releases

2） 配置环境变量

二、配置VS2019
VC++安装目录
路径仅供参考，大家选择自己的安装路径即可

C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\OpenNI2\Include
C:\Program Files (x86)\1Program\PCL_1.12.0\include\pcl-1.12
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\VTK\include\vtk-9.0
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\Qhull\include
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\FLANN\include
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\Eigen\eigen3
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\Boost\include\boost-1_76

库目录

C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\OpenNI2\Lib
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\VTK\lib
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\Qhull\lib
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\FLANN\lib
C:\Program Files (x86)\1Program\PCL_1.12.0\3rdParty\Boost\lib
C:\Program Files (x86)\1Program\PCL_1.12.0\lib

主要是导入库链接较为费时
可以根据自己的PCL版本自行导入，我们可以使用以下方法将debug和release的lib文件分开存放起来：

1. win+r调出“运行”窗口并输出cmd
2. 输入：cd /d C:\Program Files (x86)\*******  回车 （进入到的文件根据自己的路径来写）
		（以放debug版的lib文件夹为例）
4. 输出：dir /b *.lib>1.txt （改不同的后缀即可）
5. 在文件夹下可看见一个txt，打开即可复制。

下面为 debug链接器的依赖，仅供参考

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
libboost_atomic-vc142-mt-gd-x64-1_78.lib
libboost_bzip2-vc142-mt-gd-x64-1_78.lib
libboost_chrono-vc142-mt-gd-x64-1_78.lib
libboost_container-vc142-mt-gd-x64-1_78.lib
libboost_context-vc142-mt-gd-x64-1_78.lib
libboost_contract-vc142-mt-gd-x64-1_78.lib
libboost_coroutine-vc142-mt-gd-x64-1_78.lib
libboost_date_time-vc142-mt-gd-x64-1_78.lib
libboost_exception-vc142-mt-gd-x64-1_78.lib
libboost_filesystem-vc142-mt-gd-x64-1_78.lib
libboost_graph-vc142-mt-gd-x64-1_78.lib
libboost_graph_parallel-vc142-mt-gd-x64-1_78.lib
libboost_iostreams-vc142-mt-gd-x64-1_78.lib
libboost_json-vc142-mt-gd-x64-1_78.lib
libboost_locale-vc142-mt-gd-x64-1_78.lib
libboost_log-vc142-mt-gd-x64-1_78.lib
libboost_log_setup-vc142-mt-gd-x64-1_78.lib
libboost_math_c99-vc142-mt-gd-x64-1_78.lib
libboost_math_c99f-vc142-mt-gd-x64-1_78.lib
libboost_math_c99l-vc142-mt-gd-x64-1_78.lib
libboost_math_tr1-vc142-mt-gd-x64-1_78.lib
libboost_math_tr1f-vc142-mt-gd-x64-1_78.lib
libboost_math_tr1l-vc142-mt-gd-x64-1_78.lib
libboost_mpi-vc142-mt-gd-x64-1_78.lib
libboost_nowide-vc142-mt-gd-x64-1_78.lib
libboost_numpy38-vc142-mt-gd-x64-1_78.lib
libboost_prg_exec_monitor-vc142-mt-gd-x64-1_78.lib
libboost_program_options-vc142-mt-gd-x64-1_78.lib
libboost_python38-vc142-mt-gd-x64-1_78.lib
libboost_random-vc142-mt-gd-x64-1_78.lib
libboost_regex-vc142-mt-gd-x64-1_78.lib
libboost_serialization-vc142-mt-gd-x64-1_78.lib
libboost_system-vc142-mt-gd-x64-1_78.lib
libboost_test_exec_monitor-vc142-mt-gd-x64-1_78.lib
libboost_thread-vc142-mt-gd-x64-1_78.lib
libboost_timer-vc142-mt-gd-x64-1_78.lib
libboost_type_erasure-vc142-mt-gd-x64-1_78.lib
libboost_unit_test_framework-vc142-mt-gd-x64-1_78.lib
libboost_wave-vc142-mt-gd-x64-1_78.lib
libboost_wserialization-vc142-mt-gd-x64-1_78.lib
libboost_zlib-vc142-mt-gd-x64-1_78.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_rd.lib
qhull_rd.lib
vtkcgns-9.1d.lib
vtkChartsCore-9.1d.lib
vtkCommonColor-9.1d.lib
vtkCommonComputationalGeometry-9.1d.lib
vtkCommonCore-9.1d.lib
vtkCommonDataModel-9.1d.lib
vtkCommonExecutionModel-9.1d.lib
vtkCommonMath-9.1d.lib
vtkCommonMisc-9.1d.lib
vtkCommonSystem-9.1d.lib
vtkCommonTransforms-9.1d.lib
vtkDICOMParser-9.1d.lib
vtkDomainsChemistry-9.1d.lib
vtkDomainsChemistryOpenGL2-9.1d.lib
vtkdoubleconversion-9.1d.lib
vtkexodusII-9.1d.lib
vtkexpat-9.1d.lib
vtkFiltersAMR-9.1d.lib
vtkFiltersCore-9.1d.lib
vtkFiltersExtraction-9.1d.lib
vtkFiltersFlowPaths-9.1d.lib
vtkFiltersGeneral-9.1d.lib
vtkFiltersGeneric-9.1d.lib
vtkFiltersGeometry-9.1d.lib
vtkFiltersHybrid-9.1d.lib
vtkFiltersHyperTree-9.1d.lib
vtkFiltersImaging-9.1d.lib
vtkFiltersModeling-9.1d.lib
vtkFiltersParallel-9.1d.lib
vtkFiltersParallelImaging-9.1d.lib
vtkFiltersPoints-9.1d.lib
vtkFiltersProgrammable-9.1d.lib
vtkFiltersSelection-9.1d.lib
vtkFiltersSMP-9.1d.lib
vtkFiltersSources-9.1d.lib
vtkFiltersStatistics-9.1d.lib
vtkFiltersTexture-9.1d.lib
vtkFiltersTopology-9.1d.lib
vtkFiltersVerdict-9.1d.lib
vtkfmt-9.1d.lib
vtkfreetype-9.1d.lib
vtkGeovisCore-9.1d.lib
vtkgl2ps-9.1d.lib
vtkglew-9.1d.lib
vtkhdf5-9.1d.lib
vtkhdf5_hl-9.1d.lib
vtkImagingColor-9.1d.lib
vtkImagingCore-9.1d.lib
vtkImagingFourier-9.1d.lib
vtkImagingGeneral-9.1d.lib
vtkImagingHybrid-9.1d.lib
vtkImagingMath-9.1d.lib
vtkImagingMorphological-9.1d.lib
vtkImagingSources-9.1d.lib
vtkImagingStatistics-9.1d.lib
vtkImagingStencil-9.1d.lib
vtkInfovisCore-9.1d.lib
vtkInfovisLayout-9.1d.lib
vtkInteractionImage-9.1d.lib
vtkInteractionStyle-9.1d.lib
vtkInteractionWidgets-9.1d.lib
vtkIOAMR-9.1d.lib
vtkIOAsynchronous-9.1d.lib
vtkIOCGNSReader-9.1d.lib
vtkIOChemistry-9.1d.lib
vtkIOCityGML-9.1d.lib
vtkIOCONVERGECFD-9.1d.lib
vtkIOCore-9.1d.lib
vtkIOEnSight-9.1d.lib
vtkIOExodus-9.1d.lib
vtkIOExport-9.1d.lib
vtkIOExportGL2PS-9.1d.lib
vtkIOExportPDF-9.1d.lib
vtkIOGeometry-9.1d.lib
vtkIOHDF-9.1d.lib
vtkIOImage-9.1d.lib
vtkIOImport-9.1d.lib
vtkIOInfovis-9.1d.lib
vtkIOIOSS-9.1d.lib
vtkIOLegacy-9.1d.lib
vtkIOLSDyna-9.1d.lib
vtkIOMINC-9.1d.lib
vtkIOMotionFX-9.1d.lib
vtkIOMovie-9.1d.lib
vtkIONetCDF-9.1d.lib
vtkIOOggTheora-9.1d.lib
vtkIOParallel-9.1d.lib
vtkIOParallelXML-9.1d.lib
vtkIOPLY-9.1d.lib
vtkIOSegY-9.1d.lib
vtkIOSQL-9.1d.lib
vtkioss-9.1d.lib
vtkIOTecplotTable-9.1d.lib
vtkIOVeraOut-9.1d.lib
vtkIOVideo-9.1d.lib
vtkIOXML-9.1d.lib
vtkIOXMLParser-9.1d.lib
vtkjpeg-9.1d.lib
vtkjsoncpp-9.1d.lib
vtkkissfft-9.1d.lib
vtklibharu-9.1d.lib
vtklibproj-9.1d.lib
vtklibxml2-9.1d.lib
vtkloguru-9.1d.lib
vtklz4-9.1d.lib
vtklzma-9.1d.lib
vtkmetaio-9.1d.lib
vtknetcdf-9.1d.lib
vtkogg-9.1d.lib
vtkParallelCore-9.1d.lib
vtkParallelDIY-9.1d.lib
vtkpng-9.1d.lib
vtkpugixml-9.1d.lib
vtkRenderingAnnotation-9.1d.lib
vtkRenderingContext2D-9.1d.lib
vtkRenderingContextOpenGL2-9.1d.lib
vtkRenderingCore-9.1d.lib
vtkRenderingFreeType-9.1d.lib
vtkRenderingGL2PSOpenGL2-9.1d.lib
vtkRenderingImage-9.1d.lib
vtkRenderingLabel-9.1d.lib
vtkRenderingLOD-9.1d.lib
vtkRenderingOpenGL2-9.1d.lib
vtkRenderingSceneGraph-9.1d.lib
vtkRenderingUI-9.1d.lib
vtkRenderingVolume-9.1d.lib
vtkRenderingVolumeOpenGL2-9.1d.lib
vtkRenderingVtkJS-9.1d.lib
vtksqlite-9.1d.lib
vtksys-9.1d.lib
vtkTestingRendering-9.1d.lib
vtktheora-9.1d.lib
vtktiff-9.1d.lib
vtkverdict-9.1d.lib
vtkViewsContext2D-9.1d.lib
vtkViewsCore-9.1d.lib
vtkViewsInfovis-9.1d.lib
vtkWrappingTools-9.1d.lib
vtkzlib-9.1d.lib

Debug下完成后，先转到 “测试” 进行测试，测试无误后再配置Release。
下面为 release链接器的依赖，仅供参考

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
libboost_atomic-vc142-mt-x64-1_78.lib
libboost_bzip2-vc142-mt-x64-1_78.lib
libboost_chrono-vc142-mt-x64-1_78.lib
libboost_container-vc142-mt-x64-1_78.lib
libboost_context-vc142-mt-x64-1_78.lib
libboost_contract-vc142-mt-x64-1_78.lib
libboost_coroutine-vc142-mt-x64-1_78.lib
libboost_date_time-vc142-mt-x64-1_78.lib
libboost_exception-vc142-mt-x64-1_78.lib
libboost_filesystem-vc142-mt-x64-1_78.lib
libboost_graph-vc142-mt-x64-1_78.lib
libboost_graph_parallel-vc142-mt-x64-1_78.lib
libboost_iostreams-vc142-mt-x64-1_78.lib
libboost_json-vc142-mt-x64-1_78.lib
libboost_locale-vc142-mt-x64-1_78.lib
libboost_log-vc142-mt-x64-1_78.lib
libboost_log_setup-vc142-mt-x64-1_78.lib
libboost_math_c99-vc142-mt-x64-1_78.lib
libboost_math_c99f-vc142-mt-x64-1_78.lib
libboost_math_c99l-vc142-mt-x64-1_78.lib
libboost_math_tr1-vc142-mt-x64-1_78.lib
libboost_math_tr1f-vc142-mt-x64-1_78.lib
libboost_math_tr1l-vc142-mt-x64-1_78.lib
libboost_mpi-vc142-mt-x64-1_78.lib
libboost_nowide-vc142-mt-x64-1_78.lib
libboost_numpy38-vc142-mt-x64-1_78.lib
libboost_prg_exec_monitor-vc142-mt-x64-1_78.lib
libboost_program_options-vc142-mt-x64-1_78.lib
libboost_python38-vc142-mt-x64-1_78.lib
libboost_random-vc142-mt-x64-1_78.lib
libboost_regex-vc142-mt-x64-1_78.lib
libboost_serialization-vc142-mt-x64-1_78.lib
libboost_system-vc142-mt-x64-1_78.lib
libboost_test_exec_monitor-vc142-mt-x64-1_78.lib
libboost_thread-vc142-mt-x64-1_78.lib
libboost_timer-vc142-mt-x64-1_78.lib
libboost_type_erasure-vc142-mt-x64-1_78.lib
libboost_unit_test_framework-vc142-mt-x64-1_78.lib
libboost_wave-vc142-mt-x64-1_78.lib
libboost_wserialization-vc142-mt-x64-1_78.lib
libboost_zlib-vc142-mt-x64-1_78.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_s.lib
qhullcpp.lib
qhullstatic.lib
qhullstatic_r.lib
qhull_r.lib
vtkcgns-9.1.lib
vtkChartsCore-9.1.lib
vtkCommonColor-9.1.lib
vtkCommonComputationalGeometry-9.1.lib
vtkCommonCore-9.1.lib
vtkCommonDataModel-9.1.lib
vtkCommonExecutionModel-9.1.lib
vtkCommonMath-9.1.lib
vtkCommonMisc-9.1.lib
vtkCommonSystem-9.1.lib
vtkCommonTransforms-9.1.lib
vtkDICOMParser-9.1.lib
vtkDomainsChemistry-9.1.lib
vtkDomainsChemistryOpenGL2-9.1.lib
vtkdoubleconversion-9.1.lib
vtkexodusII-9.1.lib
vtkexpat-9.1.lib
vtkFiltersAMR-9.1.lib
vtkFiltersCore-9.1.lib
vtkFiltersExtraction-9.1.lib
vtkFiltersFlowPaths-9.1.lib
vtkFiltersGeneral-9.1.lib
vtkFiltersGeneric-9.1.lib
vtkFiltersGeometry-9.1.lib
vtkFiltersHybrid-9.1.lib
vtkFiltersHyperTree-9.1.lib
vtkFiltersImaging-9.1.lib
vtkFiltersModeling-9.1.lib
vtkFiltersParallel-9.1.lib
vtkFiltersParallelImaging-9.1.lib
vtkFiltersPoints-9.1.lib
vtkFiltersProgrammable-9.1.lib
vtkFiltersSelection-9.1.lib
vtkFiltersSMP-9.1.lib
vtkFiltersSources-9.1.lib
vtkFiltersStatistics-9.1.lib
vtkFiltersTexture-9.1.lib
vtkFiltersTopology-9.1.lib
vtkFiltersVerdict-9.1.lib
vtkfmt-9.1.lib
vtkfreetype-9.1.lib
vtkGeovisCore-9.1.lib
vtkgl2ps-9.1.lib
vtkglew-9.1.lib
vtkhdf5-9.1.lib
vtkhdf5_hl-9.1.lib
vtkImagingColor-9.1.lib
vtkImagingCore-9.1.lib
vtkImagingFourier-9.1.lib
vtkImagingGeneral-9.1.lib
vtkImagingHybrid-9.1.lib
vtkImagingMath-9.1.lib
vtkImagingMorphological-9.1.lib
vtkImagingSources-9.1.lib
vtkImagingStatistics-9.1.lib
vtkImagingStencil-9.1.lib
vtkInfovisCore-9.1.lib
vtkInfovisLayout-9.1.lib
vtkInteractionImage-9.1.lib
vtkInteractionStyle-9.1.lib
vtkInteractionWidgets-9.1.lib
vtkIOAMR-9.1.lib
vtkIOAsynchronous-9.1.lib
vtkIOCGNSReader-9.1.lib
vtkIOChemistry-9.1.lib
vtkIOCityGML-9.1.lib
vtkIOCONVERGECFD-9.1.lib
vtkIOCore-9.1.lib
vtkIOEnSight-9.1.lib
vtkIOExodus-9.1.lib
vtkIOExport-9.1.lib
vtkIOExportGL2PS-9.1.lib
vtkIOExportPDF-9.1.lib
vtkIOGeometry-9.1.lib
vtkIOHDF-9.1.lib
vtkIOImage-9.1.lib
vtkIOImport-9.1.lib
vtkIOInfovis-9.1.lib
vtkIOIOSS-9.1.lib
vtkIOLegacy-9.1.lib
vtkIOLSDyna-9.1.lib
vtkIOMINC-9.1.lib
vtkIOMotionFX-9.1.lib
vtkIOMovie-9.1.lib
vtkIONetCDF-9.1.lib
vtkIOOggTheora-9.1.lib
vtkIOParallel-9.1.lib
vtkIOParallelXML-9.1.lib
vtkIOPLY-9.1.lib
vtkIOSegY-9.1.lib
vtkIOSQL-9.1.lib
vtkioss-9.1.lib
vtkIOTecplotTable-9.1.lib
vtkIOVeraOut-9.1.lib
vtkIOVideo-9.1.lib
vtkIOXML-9.1.lib
vtkIOXMLParser-9.1.lib
vtkjpeg-9.1.lib
vtkjsoncpp-9.1.lib
vtkkissfft-9.1.lib
vtklibharu-9.1.lib
vtklibproj-9.1.lib
vtklibxml2-9.1.lib
vtkloguru-9.1.lib
vtklz4-9.1.lib
vtklzma-9.1.lib
vtkmetaio-9.1.lib
vtknetcdf-9.1.lib
vtkogg-9.1.lib
vtkParallelCore-9.1.lib
vtkParallelDIY-9.1.lib
vtkpng-9.1.lib
vtkpugixml-9.1.lib
vtkRenderingAnnotation-9.1.lib
vtkRenderingContext2D-9.1.lib
vtkRenderingContextOpenGL2-9.1.lib
vtkRenderingCore-9.1.lib
vtkRenderingFreeType-9.1.lib
vtkRenderingGL2PSOpenGL2-9.1.lib
vtkRenderingImage-9.1.lib
vtkRenderingLabel-9.1.lib
vtkRenderingLOD-9.1.lib
vtkRenderingOpenGL2-9.1.lib
vtkRenderingSceneGraph-9.1.lib
vtkRenderingUI-9.1.lib
vtkRenderingVolume-9.1.lib
vtkRenderingVolumeOpenGL2-9.1.lib
vtkRenderingVtkJS-9.1.lib
vtksqlite-9.1.lib
vtksys-9.1.lib
vtkTestingRendering-9.1.lib
vtktheora-9.1.lib
vtktiff-9.1.lib
vtkverdict-9.1.lib
vtkViewsContext2D-9.1.lib
vtkViewsCore-9.1.lib
vtkViewsInfovis-9.1.lib
vtkWrappingTools-9.1.lib
vtkzlib-9.1.lib

存在问题：“error C4996: ‘fopen’: This function or variable may be unsafe. Consider using fopen_s instead” 解决方法

项目----》 XX属性 ----》C++ —>预处理器 —》在预处理器定义添加“_CRT_SECURE_NO_WARNINGS”

测试

#include
#include//标准C++库中的输入输出类相关头文件。
#include
#include//pcd 读写类相关的头文件。
#include
#include //PCL中支持的点类型头文件。
int user_data;
using std::cout;


void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) {
    viewer.setBackgroundColor(1.0, 0.5, 1.0);   //设置背景颜色
}

int main() {
    pcl::PointCloud::Ptr cloud(new pcl::PointCloud);

    char strfilepath[256] = "rabbit.pcd";
    if (-1 == pcl::io::loadPCDFile(strfilepath, *cloud)) {
        cout << "error input!" << endl;
        return -1;
    }

    cout << cloud->points.size() << endl;
    pcl::visualization::CloudViewer viewer("Cloud Viewer");     //创建viewer对象

    viewer.showCloud(cloud);
    viewer.runOnVisualizationThreadOnce(viewerOneOff);
    system("pause");
    return 0;
}