windows上点云库PCL-1.13.0+VS2019的配置

软件运行环境：

windows系统上，VS2019+PCL-1.13.0

PCL的安装包下载：Releases · PointCloudLibrary/pcl · GitHub

安装PCL-1.13.0-AllInOne-msvc2022-win64.exe

 安装完后，环境变量会自动生成以下的变量

 安装OpenNI2

在PCL 1.13.0的安装路径中，找到OpenNI2的安装包，并开始安装

 解压pcl-1.13.0-pdb-msvc2022-win64.zip的文件

将其中的pdb文件复制到PCL安装目录的bin目录下

 配置系统环境变量

 在环境变量的Path中，添加以上8个路径

配置VS2019

附加包含目录：

C:\Program Files\OpenNI2\Include
D:\software2\PCL 1.13.0\include\pcl-1.13
D:\software2\PCL 1.13.0\3rdParty\Eigen\eigen3
D:\software2\PCL 1.13.0\3rdParty\Boost\include\boost-1_80
D:\software2\PCL 1.13.0\3rdParty\FLANN\include
D:\software2\PCL 1.13.0\3rdParty\Qhull\include
D:\software2\PCL 1.13.0\3rdParty\VTK\include\vtk-9.2

附加库目录：

C:\Program Files\OpenNI2\Lib
D:\software2\PCL 1.13.0\3rdParty\Qhull\lib
D:\software2\PCL 1.13.0\3rdParty\FLANN\lib
D:\software2\PCL 1.13.0\3rdParty\Boost\lib
D:\software2\PCL 1.13.0\lib
D:\software2\PCL 1.13.0\3rdParty\VTK\lib

附加依赖项_debug:

OpenNI2.lib
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
vtkcgns-9.2-gd.lib
vtkChartsCore-9.2-gd.lib
vtkCommonColor-9.2-gd.lib
vtkCommonComputationalGeometry-9.2-gd.lib
vtkCommonCore-9.2-gd.lib
vtkCommonDataModel-9.2-gd.lib
vtkCommonExecutionModel-9.2-gd.lib
vtkCommonMath-9.2-gd.lib
vtkCommonMisc-9.2-gd.lib
vtkCommonSystem-9.2-gd.lib
vtkCommonTransforms-9.2-gd.lib
vtkDICOMParser-9.2-gd.lib
vtkDomainsChemistry-9.2-gd.lib
vtkDomainsChemistryOpenGL2-9.2-gd.lib
vtkdoubleconversion-9.2-gd.lib
vtkexodusII-9.2-gd.lib
vtkexpat-9.2-gd.lib
vtkFiltersAMR-9.2-gd.lib
vtkFiltersCore-9.2-gd.lib
vtkFiltersExtraction-9.2-gd.lib
vtkFiltersFlowPaths-9.2-gd.lib
vtkFiltersGeneral-9.2-gd.lib
vtkFiltersGeneric-9.2-gd.lib
vtkFiltersGeometry-9.2-gd.lib
vtkFiltersHybrid-9.2-gd.lib
vtkFiltersHyperTree-9.2-gd.lib
vtkFiltersImaging-9.2-gd.lib
vtkFiltersModeling-9.2-gd.lib
vtkFiltersParallel-9.2-gd.lib
vtkFiltersParallelImaging-9.2-gd.lib
vtkFiltersPoints-9.2-gd.lib
vtkFiltersProgrammable-9.2-gd.lib
vtkFiltersSelection-9.2-gd.lib
vtkFiltersSMP-9.2-gd.lib
vtkFiltersSources-9.2-gd.lib
vtkFiltersStatistics-9.2-gd.lib
vtkFiltersTexture-9.2-gd.lib
vtkFiltersTopology-9.2-gd.lib
vtkFiltersVerdict-9.2-gd.lib
vtkfmt-9.2-gd.lib
vtkfreetype-9.2-gd.lib
vtkGeovisCore-9.2-gd.lib
vtkgl2ps-9.2-gd.lib
vtkglew-9.2-gd.lib
vtkhdf5-9.2-gd.lib
vtkhdf5_hl-9.2-gd.lib
vtkImagingColor-9.2-gd.lib
vtkImagingCore-9.2-gd.lib
vtkImagingFourier-9.2-gd.lib
vtkImagingGeneral-9.2-gd.lib
vtkImagingHybrid-9.2-gd.lib
vtkImagingMath-9.2-gd.lib
vtkImagingMorphological-9.2-gd.lib
vtkImagingSources-9.2-gd.lib
vtkImagingStatistics-9.2-gd.lib
vtkImagingStencil-9.2-gd.lib
vtkInfovisCore-9.2-gd.lib
vtkInfovisLayout-9.2-gd.lib
vtkInteractionImage-9.2-gd.lib
vtkInteractionStyle-9.2-gd.lib
vtkInteractionWidgets-9.2-gd.lib
vtkIOAMR-9.2-gd.lib
vtkIOAsynchronous-9.2-gd.lib
vtkIOCesium3DTiles-9.2-gd.lib
vtkIOCGNSReader-9.2-gd.lib
vtkIOChemistry-9.2-gd.lib
vtkIOCityGML-9.2-gd.lib
vtkIOCONVERGECFD-9.2-gd.lib
vtkIOCore-9.2-gd.lib
vtkIOEnSight-9.2-gd.lib
vtkIOExodus-9.2-gd.lib
vtkIOExport-9.2-gd.lib
vtkIOExportGL2PS-9.2-gd.lib
vtkIOExportPDF-9.2-gd.lib
vtkIOGeometry-9.2-gd.lib
vtkIOHDF-9.2-gd.lib
vtkIOImage-9.2-gd.lib
vtkIOImport-9.2-gd.lib
vtkIOInfovis-9.2-gd.lib
vtkIOIOSS-9.2-gd.lib
vtkIOLegacy-9.2-gd.lib
vtkIOLSDyna-9.2-gd.lib
vtkIOMINC-9.2-gd.lib
vtkIOMotionFX-9.2-gd.lib
vtkIOMovie-9.2-gd.lib
vtkIONetCDF-9.2-gd.lib
vtkIOOggTheora-9.2-gd.lib
vtkIOParallel-9.2-gd.lib
vtkIOParallelXML-9.2-gd.lib
vtkIOPLY-9.2-gd.lib
vtkIOSegY-9.2-gd.lib
vtkIOSQL-9.2-gd.lib
vtkioss-9.2-gd.lib
vtkIOTecplotTable-9.2-gd.lib
vtkIOVeraOut-9.2-gd.lib
vtkIOVideo-9.2-gd.lib
vtkIOXML-9.2-gd.lib
vtkIOXMLParser-9.2-gd.lib
vtkjpeg-9.2-gd.lib
vtkjsoncpp-9.2-gd.lib
vtkkissfft-9.2-gd.lib
vtklibharu-9.2-gd.lib
vtklibproj-9.2-gd.lib
vtklibxml2-9.2-gd.lib
vtkloguru-9.2-gd.lib
vtklz4-9.2-gd.lib
vtklzma-9.2-gd.lib
vtkmetaio-9.2-gd.lib
vtknetcdf-9.2-gd.lib
vtkogg-9.2-gd.lib
vtkParallelCore-9.2-gd.lib
vtkParallelDIY-9.2-gd.lib
vtkpng-9.2-gd.lib
vtkpugixml-9.2-gd.lib
vtkRenderingAnnotation-9.2-gd.lib
vtkRenderingContext2D-9.2-gd.lib
vtkRenderingContextOpenGL2-9.2-gd.lib
vtkRenderingCore-9.2-gd.lib
vtkRenderingFreeType-9.2-gd.lib
vtkRenderingGL2PSOpenGL2-9.2-gd.lib
vtkRenderingHyperTreeGrid-9.2-gd.lib
vtkRenderingImage-9.2-gd.lib
vtkRenderingLabel-9.2-gd.lib
vtkRenderingLICOpenGL2-9.2-gd.lib
vtkRenderingLOD-9.2-gd.lib
vtkRenderingOpenGL2-9.2-gd.lib
vtkRenderingSceneGraph-9.2-gd.lib
vtkRenderingUI-9.2-gd.lib
vtkRenderingVolume-9.2-gd.lib
vtkRenderingVolumeOpenGL2-9.2-gd.lib
vtkRenderingVtkJS-9.2-gd.lib
vtksqlite-9.2-gd.lib
vtksys-9.2-gd.lib
vtkTestingRendering-9.2-gd.lib
vtktheora-9.2-gd.lib
vtktiff-9.2-gd.lib
vtkverdict-9.2-gd.lib
vtkViewsContext2D-9.2-gd.lib
vtkViewsCore-9.2-gd.lib
vtkViewsInfovis-9.2-gd.lib
vtkWrappingTools-9.2-gd.lib
vtkzlib-9.2-gd.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_rd.lib
qhull_rd.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
libboost_atomic-vc143-mt-gd-x64-1_80.lib
libboost_bzip2-vc143-mt-gd-x64-1_80.lib
libboost_chrono-vc143-mt-gd-x64-1_80.lib
libboost_container-vc143-mt-gd-x64-1_80.lib
libboost_context-vc143-mt-gd-x64-1_80.lib
libboost_contract-vc143-mt-gd-x64-1_80.lib
libboost_coroutine-vc143-mt-gd-x64-1_80.lib
libboost_date_time-vc143-mt-gd-x64-1_80.lib
libboost_exception-vc143-mt-gd-x64-1_80.lib
libboost_fiber-vc143-mt-gd-x64-1_80.lib
libboost_filesystem-vc143-mt-gd-x64-1_80.lib
libboost_graph-vc143-mt-gd-x64-1_80.lib
libboost_graph_parallel-vc143-mt-gd-x64-1_80.lib
libboost_iostreams-vc143-mt-gd-x64-1_80.lib
libboost_json-vc143-mt-gd-x64-1_80.lib
libboost_locale-vc143-mt-gd-x64-1_80.lib
libboost_log-vc143-mt-gd-x64-1_80.lib
libboost_log_setup-vc143-mt-gd-x64-1_80.lib
libboost_math_c99-vc143-mt-gd-x64-1_80.lib
libboost_math_c99f-vc143-mt-gd-x64-1_80.lib
libboost_math_c99l-vc143-mt-gd-x64-1_80.lib
libboost_math_tr1-vc143-mt-gd-x64-1_80.lib
libboost_math_tr1f-vc143-mt-gd-x64-1_80.lib
libboost_math_tr1l-vc143-mt-gd-x64-1_80.lib
libboost_mpi-vc143-mt-gd-x64-1_80.lib
libboost_nowide-vc143-mt-gd-x64-1_80.lib
libboost_numpy310-vc143-mt-gd-x64-1_80.lib
libboost_prg_exec_monitor-vc143-mt-gd-x64-1_80.lib
libboost_program_options-vc143-mt-gd-x64-1_80.lib
libboost_python310-vc143-mt-gd-x64-1_80.lib
libboost_random-vc143-mt-gd-x64-1_80.lib
libboost_regex-vc143-mt-gd-x64-1_80.lib
libboost_serialization-vc143-mt-gd-x64-1_80.lib
libboost_stacktrace_noop-vc143-mt-gd-x64-1_80.lib
libboost_stacktrace_windbg-vc143-mt-gd-x64-1_80.lib
libboost_stacktrace_windbg_cached-vc143-mt-gd-x64-1_80.lib
libboost_system-vc143-mt-gd-x64-1_80.lib
libboost_test_exec_monitor-vc143-mt-gd-x64-1_80.lib
libboost_thread-vc143-mt-gd-x64-1_80.lib
libboost_timer-vc143-mt-gd-x64-1_80.lib
libboost_type_erasure-vc143-mt-gd-x64-1_80.lib
libboost_unit_test_framework-vc143-mt-gd-x64-1_80.lib
libboost_wave-vc143-mt-gd-x64-1_80.lib
libboost_wserialization-vc143-mt-gd-x64-1_80.lib
libboost_zlib-vc143-mt-gd-x64-1_80.lib

附加依赖项_release:

OpenNI2.lib
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
vtkcgns-9.2.lib
vtkChartsCore-9.2.lib
vtkCommonColor-9.2.lib
vtkCommonComputationalGeometry-9.2.lib
vtkCommonCore-9.2.lib
vtkCommonDataModel-9.2.lib
vtkCommonExecutionModel-9.2.lib
vtkCommonMath-9.2.lib
vtkCommonMisc-9.2.lib
vtkCommonSystem-9.2.lib
vtkCommonTransforms-9.2.lib
vtkDICOMParser-9.2.lib
vtkDomainsChemistry-9.2.lib
vtkDomainsChemistryOpenGL2-9.2.lib
vtkdoubleconversion-9.2.lib
vtkexodusII-9.2.lib
vtkexpat-9.2.lib
vtkFiltersAMR-9.2.lib
vtkFiltersCore-9.2.lib
vtkFiltersExtraction-9.2.lib
vtkFiltersFlowPaths-9.2.lib
vtkFiltersGeneral-9.2.lib
vtkFiltersGeneric-9.2.lib
vtkFiltersGeometry-9.2.lib
vtkFiltersHybrid-9.2.lib
vtkFiltersHyperTree-9.2.lib
vtkFiltersImaging-9.2.lib
vtkFiltersModeling-9.2.lib
vtkFiltersParallel-9.2.lib
vtkFiltersParallelImaging-9.2.lib
vtkFiltersPoints-9.2.lib
vtkFiltersProgrammable-9.2.lib
vtkFiltersSelection-9.2.lib
vtkFiltersSMP-9.2.lib
vtkFiltersSources-9.2.lib
vtkFiltersStatistics-9.2.lib
vtkFiltersTexture-9.2.lib
vtkFiltersTopology-9.2.lib
vtkFiltersVerdict-9.2.lib
vtkfmt-9.2.lib
vtkfreetype-9.2.lib
vtkGeovisCore-9.2.lib
vtkgl2ps-9.2.lib
vtkglew-9.2.lib
vtkhdf5-9.2.lib
vtkhdf5_hl-9.2.lib
vtkImagingColor-9.2.lib
vtkImagingCore-9.2.lib
vtkImagingFourier-9.2.lib
vtkImagingGeneral-9.2.lib
vtkImagingHybrid-9.2.lib
vtkImagingMath-9.2.lib
vtkImagingMorphological-9.2.lib
vtkImagingSources-9.2.lib
vtkImagingStatistics-9.2.lib
vtkImagingStencil-9.2.lib
vtkInfovisCore-9.2.lib
vtkInfovisLayout-9.2.lib
vtkInteractionImage-9.2.lib
vtkInteractionStyle-9.2.lib
vtkInteractionWidgets-9.2.lib
vtkIOAMR-9.2.lib
vtkIOAsynchronous-9.2.lib
vtkIOCesium3DTiles-9.2.lib
vtkIOCGNSReader-9.2.lib
vtkIOChemistry-9.2.lib
vtkIOCityGML-9.2.lib
vtkIOCONVERGECFD-9.2.lib
vtkIOCore-9.2.lib
vtkIOEnSight-9.2.lib
vtkIOExodus-9.2.lib
vtkIOExport-9.2.lib
vtkIOExportGL2PS-9.2.lib
vtkIOExportPDF-9.2.lib
vtkIOGeometry-9.2.lib
vtkIOHDF-9.2.lib
vtkIOImage-9.2.lib
vtkIOImport-9.2.lib
vtkIOInfovis-9.2.lib
vtkIOIOSS-9.2.lib
vtkIOLegacy-9.2.lib
vtkIOLSDyna-9.2.lib
vtkIOMINC-9.2.lib
vtkIOMotionFX-9.2.lib
vtkIOMovie-9.2.lib
vtkIONetCDF-9.2.lib
vtkIOOggTheora-9.2.lib
vtkIOParallel-9.2.lib
vtkIOParallelXML-9.2.lib
vtkIOPLY-9.2.lib
vtkIOSegY-9.2.lib
vtkIOSQL-9.2.lib
vtkioss-9.2.lib
vtkIOTecplotTable-9.2.lib
vtkIOVeraOut-9.2.lib
vtkIOVideo-9.2.lib
vtkIOXML-9.2.lib
vtkIOXMLParser-9.2.lib
vtkjpeg-9.2.lib
vtkjsoncpp-9.2.lib
vtkkissfft-9.2.lib
vtklibharu-9.2.lib
vtklibproj-9.2.lib
vtklibxml2-9.2.lib
vtkloguru-9.2.lib
vtklz4-9.2.lib
vtklzma-9.2.lib
vtkmetaio-9.2.lib
vtknetcdf-9.2.lib
vtkogg-9.2.lib
vtkParallelCore-9.2.lib
vtkParallelDIY-9.2.lib
vtkpng-9.2.lib
vtkpugixml-9.2.lib
vtkRenderingAnnotation-9.2.lib
vtkRenderingContext2D-9.2.lib
vtkRenderingContextOpenGL2-9.2.lib
vtkRenderingCore-9.2.lib
vtkRenderingFreeType-9.2.lib
vtkRenderingGL2PSOpenGL2-9.2.lib
vtkRenderingHyperTreeGrid-9.2.lib
vtkRenderingImage-9.2.lib
vtkRenderingLabel-9.2.lib
vtkRenderingLICOpenGL2-9.2.lib
vtkRenderingLOD-9.2.lib
vtkRenderingOpenGL2-9.2.lib
vtkRenderingSceneGraph-9.2.lib
vtkRenderingUI-9.2.lib
vtkRenderingVolume-9.2.lib
vtkRenderingVolumeOpenGL2-9.2.lib
vtkRenderingVtkJS-9.2.lib
vtksqlite-9.2.lib
vtksys-9.2.lib
vtkTestingRendering-9.2.lib
vtktheora-9.2.lib
vtktiff-9.2.lib
vtkverdict-9.2.lib
vtkViewsContext2D-9.2.lib
vtkViewsCore-9.2.lib
vtkViewsInfovis-9.2.lib
vtkWrappingTools-9.2.lib
vtkzlib-9.2.lib
qhull_r.lib
qhullcpp.lib
qhullstatic.lib
qhullstatic_r.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_s.lib
libboost_atomic-vc143-mt-x64-1_80.lib
libboost_bzip2-vc143-mt-x64-1_80.lib
libboost_chrono-vc143-mt-x64-1_80.lib
libboost_container-vc143-mt-x64-1_80.lib
libboost_context-vc143-mt-x64-1_80.lib
libboost_contract-vc143-mt-x64-1_80.lib
libboost_coroutine-vc143-mt-x64-1_80.lib
libboost_date_time-vc143-mt-x64-1_80.lib
libboost_exception-vc143-mt-x64-1_80.lib
libboost_fiber-vc143-mt-x64-1_80.lib
libboost_filesystem-vc143-mt-x64-1_80.lib
libboost_graph-vc143-mt-x64-1_80.lib
libboost_graph_parallel-vc143-mt-x64-1_80.lib
libboost_iostreams-vc143-mt-x64-1_80.lib
libboost_json-vc143-mt-x64-1_80.lib
libboost_locale-vc143-mt-x64-1_80.lib
libboost_log-vc143-mt-x64-1_80.lib
libboost_log_setup-vc143-mt-x64-1_80.lib
libboost_math_c99-vc143-mt-x64-1_80.lib
libboost_math_c99f-vc143-mt-x64-1_80.lib
libboost_math_c99l-vc143-mt-x64-1_80.lib
libboost_math_tr1-vc143-mt-x64-1_80.lib
libboost_math_tr1f-vc143-mt-x64-1_80.lib
libboost_math_tr1l-vc143-mt-x64-1_80.lib
libboost_mpi-vc143-mt-x64-1_80.lib
libboost_nowide-vc143-mt-x64-1_80.lib
libboost_numpy310-vc143-mt-x64-1_80.lib
libboost_prg_exec_monitor-vc143-mt-x64-1_80.lib
libboost_program_options-vc143-mt-x64-1_80.lib
libboost_python310-vc143-mt-x64-1_80.lib
libboost_random-vc143-mt-x64-1_80.lib
libboost_regex-vc143-mt-x64-1_80.lib
libboost_serialization-vc143-mt-x64-1_80.lib
libboost_stacktrace_noop-vc143-mt-x64-1_80.lib
libboost_stacktrace_windbg-vc143-mt-x64-1_80.lib
libboost_stacktrace_windbg_cached-vc143-mt-x64-1_80.lib
libboost_system-vc143-mt-x64-1_80.lib
libboost_test_exec_monitor-vc143-mt-x64-1_80.lib
libboost_thread-vc143-mt-x64-1_80.lib
libboost_timer-vc143-mt-x64-1_80.lib
libboost_type_erasure-vc143-mt-x64-1_80.lib
libboost_unit_test_framework-vc143-mt-x64-1_80.lib
libboost_wave-vc143-mt-x64-1_80.lib
libboost_wserialization-vc143-mt-x64-1_80.lib
libboost_zlib-vc143-mt-x64-1_80.lib

测试PCL的代码

配置好PCL的环境之后，新建一个main.cpp，测试是否能生成，显示，并保存点云。

#include 
#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
#include 
#include   
#include  

using namespace std;

int main()
{
	vector> arrs = {
	{ 1, 1,-1},
	{-1, 1,-1},
	{ 1,-1,-1},
	{-1,-1,-1},
	{ 1, 1, 1},
	{-1, 1, 1},
	{ 1,-1, 1},
	{-1,-1, 1}
	};

	int point_num = arrs.size();
	printf("point_num:%d\n", point_num);
	
	pcl::PointCloud::Ptr cloud(new pcl::PointCloud);
	cloud->width = point_num;
	cloud->height = 1;
	cloud->is_dense = false;
	cloud->points.resize(cloud->width * cloud->height);

	for (size_t i = 0; i < cloud->points.size(); ++i)
	{
		cloud->points[i].x = arrs[i][0];
		cloud->points[i].y = arrs[i][1];
		cloud->points[i].z = arrs[i][2];
	}
	pcl::io::savePCDFileASCII("point_ceshi.pcd", *cloud);
	std::cerr << "Saved " << cloud->points.size() << " data points to point_ceshi.pcd!" << std::endl;

	//PCL Visualizer
	pcl::visualization::PCLVisualizer viewer("Cloud Viewer");
	viewer.addPointCloud(cloud);
	viewer.setBackgroundColor(0, 0, 0);
	viewer.spin();


	system("pause");
	return 0;

}

该代码定义了一个正方体的8个顶点的坐标，然后生成了该点云，可视化的效果如下所示。