PCL入门安装+msvc2015第一个程序_用vs2015打开一只兔子-优快云博客

本文链接：https://blog.youkuaiyun.com/qq_36808245/article/details/106626565

安装版本：1.8.1

Release pcl-1.8.1 · PointCloudLibrary/pcl · GitHub

安装包链接：PCL-1.8.1-AllInOne-msvc2015-win64.exe

安装pdb链接：pcl-1.8.1-pdb-msvc2015-win64.zip

安装过程中考虑要不要安装第三方库：答案似乎是需要全部安装的。

参考：blog.youkuaiyun.com/wangzhebupt/article/details/24466789

安装参考教程：VS2015配置PCL1.8.1_之乎者也哦的博客-优快云博客

主要是msvc中属性表的填写：

VC++目录-包含目录
D:\pcl\PCL1.8.1\include\pcl-1.8;D:\pcl\PCL1.8.1\3rdParty\FLANN\include;D:\pcl\PCL1.8.1\3rdParty\Eigen\eigen3;D:\pcl\PCL1.8.1\3rdParty\Qhull\include;D:\pcl\PCL1.8.1\3rdParty\Boost\include\boost-1_64;D:\pcl\PCL1.8.1\3rdParty\VTK\include\vtk-8.0;D:\pcl\PCL1.8.1\3rdParty\OpenNI2\Include;$(VC_IncludePath);

VC++目录-库目录
D:\pcl\PCL1.8.1\lib;D:\pcl\PCL1.8.1\3rdParty\Boost\lib;D:\pcl\PCL1.8.1\3rdParty\FLANN\lib;D:\pcl\PCL1.8.1\3rdParty\Qhull\lib;D:\pcl\PCL1.8.1\3rdParty\VTK\lib;D:\pcl\PCL1.8.1\3rdParty\OpenNI2\Lib;

调试-环境
path=D:\pcl\PCL1.8.1\bin

release-x64链接器-输入-附加依赖项目（debug同）

pcl_common_release.lib
pcl_features_release.lib
pcl_filters_release.lib
pcl_io_release.lib
pcl_io_ply_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
flann_cpp_s.lib
flann_s.lib
flann.lib
libboost_atomic-vc140-mt-1_64.lib
libboost_chrono-vc140-mt-1_64.lib
libboost_container-vc140-mt-1_64.lib
libboost_context-vc140-mt-1_64.lib
libboost_coroutine-vc140-mt-1_64.lib
libboost_date_time-vc140-mt-1_64.lib
libboost_exception-vc140-mt-1_64.lib
libboost_filesystem-vc140-mt-1_64.lib
libboost_graph-vc140-mt-1_64.lib
libboost_iostreams-vc140-mt-1_64.lib
libboost_locale-vc140-mt-1_64.lib
libboost_log-vc140-mt-1_64.lib
libboost_log_setup-vc140-mt-1_64.lib
libboost_math_c99-vc140-mt-1_64.lib
libboost_math_c99f-vc140-mt-1_64.lib
libboost_math_c99l-vc140-mt-1_64.lib
libboost_math_tr1-vc140-mt-1_64.lib
libboost_math_tr1f-vc140-mt-1_64.lib
libboost_math_tr1l-vc140-mt-1_64.lib
libboost_mpi-vc140-mt-1_64.lib
libboost_prg_exec_monitor-vc140-mt-1_64.lib
libboost_program_options-vc140-mt-1_64.lib
libboost_random-vc140-mt-1_64.lib
libboost_regex-vc140-mt-1_64.lib
libboost_serialization-vc140-mt-1_64.lib
libboost_signals-vc140-mt-1_64.lib
libboost_system-vc140-mt-1_64.lib
libboost_test_exec_monitor-vc140-mt-1_64.lib
libboost_thread-vc140-mt-1_64.lib
libboost_timer-vc140-mt-1_64.lib
libboost_unit_test_framework-vc140-mt-1_64.lib
libboost_wave-vc140-mt-1_64.lib
libboost_wserialization-vc140-mt-1_64.lib
qhullstatic.lib
qhull.lib
qhull_p.lib
qhull_r.lib
qhullcpp.lib
qhullstatic_r.lib
vtkalglib-8.0.lib
vtkChartsCore-8.0.lib
vtkCommonColor-8.0.lib
vtkCommonComputationalGeometry-8.0.lib
vtkCommonCore-8.0.lib
vtkCommonDataModel-8.0.lib
vtkCommonExecutionModel-8.0.lib
vtkCommonMath-8.0.lib
vtkCommonMisc-8.0.lib
vtkCommonSystem-8.0.lib
vtkCommonTransforms-8.0.lib
vtkDICOMParser-8.0.lib
vtkDomainsChemistry-8.0.lib
vtkexoIIc-8.0.lib
vtkexpat-8.0.lib
vtkFiltersAMR-8.0.lib
vtkFiltersCore-8.0.lib
vtkFiltersExtraction-8.0.lib
vtkFiltersFlowPaths-8.0.lib
vtkFiltersGeneral-8.0.lib
vtkFiltersGeneric-8.0.lib
vtkFiltersGeometry-8.0.lib
vtkFiltersHybrid-8.0.lib
vtkFiltersHyperTree-8.0.lib
vtkFiltersImaging-8.0.lib
vtkFiltersModeling-8.0.lib
vtkFiltersParallel-8.0.lib
vtkFiltersParallelImaging-8.0.lib
vtkFiltersProgrammable-8.0.lib
vtkFiltersSelection-8.0.lib
vtkFiltersSMP-8.0.lib
vtkFiltersSources-8.0.lib
vtkFiltersStatistics-8.0.lib
vtkFiltersTexture-8.0.lib
vtkFiltersVerdict-8.0.lib
vtkfreetype-8.0.lib
vtkGeovisCore-8.0.lib
vtkhdf5-8.0.lib
vtkhdf5_hl-8.0.lib
vtkImagingColor-8.0.lib
vtkImagingCore-8.0.lib
vtkImagingFourier-8.0.lib
vtkImagingGeneral-8.0.lib
vtkImagingHybrid-8.0.lib
vtkImagingMath-8.0.lib
vtkImagingMorphological-8.0.lib
vtkImagingSources-8.0.lib
vtkImagingStatistics-8.0.lib
vtkImagingStencil-8.0.lib
vtkInfovisCore-8.0.lib
vtkInfovisLayout-8.0.lib
vtkInteractionImage-8.0.lib
vtkInteractionStyle-8.0.lib
vtkInteractionWidgets-8.0.lib
vtkIOAMR-8.0.lib
vtkIOCore-8.0.lib
vtkIOEnSight-8.0.lib
vtkIOExodus-8.0.lib
vtkIOExport-8.0.lib
vtkIOGeometry-8.0.lib
vtkIOImage-8.0.lib
vtkIOImport-8.0.lib
vtkIOInfovis-8.0.lib
vtkIOLegacy-8.0.lib
vtkIOLSDyna-8.0.lib
vtkIOMINC-8.0.lib
vtkIOMovie-8.0.lib
vtkIONetCDF-8.0.lib
vtkIOParallel-8.0.lib
vtkIOPLY-8.0.lib
vtkIOSQL-8.0.lib
vtkIOVideo-8.0.lib
vtkIOXML-8.0.lib
vtkIOXMLParser-8.0.lib
vtkjpeg-8.0.lib
vtkjsoncpp-8.0.lib
vtklibxml2-8.0.lib
vtkmetaio-8.0.lib
vtknetcdf_c++.lib
vtkoggtheora-8.0.lib
vtkParallelCore-8.0.lib
vtkpng-8.0.lib
vtkproj4-8.0.lib
vtkRenderingAnnotation-8.0.lib
vtkRenderingContext2D-8.0.lib
vtkRenderingCore-8.0.lib
vtkRenderingFreeType-8.0.lib
vtkRenderingImage-8.0.lib
vtkRenderingLabel-8.0.lib
vtkRenderingLOD-8.0.lib
vtkRenderingVolume-8.0.lib
vtksqlite-8.0.lib
vtksys-8.0.lib
vtktiff-8.0.lib
vtkverdict-8.0.lib
vtkViewsContext2D-8.0.lib
vtkViewsCore-8.0.lib
vtkViewsInfovis-8.0.lib
vtkzlib-8.0.lib
OpenNI2.lib
QVTKWidgetPlugin.lib

debug
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_stereo_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
pcl_visualization_debug.lib
libboost_atomic-vc140-mt-gd-1_64.lib
libboost_bzip2-vc140-mt-gd-1_64.lib
libboost_chrono-vc140-mt-gd-1_64.lib
libboost_container-vc140-mt-gd-1_64.lib
libboost_context-vc140-mt-gd-1_64.lib
libboost_coroutine-vc140-mt-gd-1_64.lib
libboost_date_time-vc140-mt-gd-1_64.lib
libboost_exception-vc140-mt-gd-1_64.lib
libboost_fiber-vc140-mt-gd-1_64.lib
libboost_filesystem-vc140-mt-gd-1_64.lib
libboost_graph_parallel-vc140-mt-gd-1_64.lib
libboost_graph-vc140-mt-gd-1_64.lib
libboost_iostreams-vc140-mt-gd-1_64.lib
libboost_locale-vc140-mt-gd-1_64.lib
libboost_log-vc140-mt-gd-1_64.lib
libboost_log_setup-vc140-mt-gd-1_64.lib
libboost_math_c99-vc140-mt-gd-1_64.lib
libboost_math_c99f-vc140-mt-gd-1_64.lib
libboost_math_c99l-vc140-mt-gd-1_64.lib
libboost_math_tr1-vc140-mt-gd-1_64.lib
libboost_math_tr1f-vc140-mt-gd-1_64.lib
libboost_math_tr1l-vc140-mt-gd-1_64.lib
libboost_mpi-vc140-mt-gd-1_64.lib
libboost_numpy3-vc140-mt-gd-1_64.lib
libboost_numpy-vc140-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc140-mt-gd-1_64.lib
libboost_program_options-vc140-mt-gd-1_64.lib
libboost_python3-vc140-mt-gd-1_64.lib
libboost_python-vc140-mt-gd-1_64.lib
libboost_random-vc140-mt-gd-1_64.lib
libboost_regex-vc140-mt-gd-1_64.lib
libboost_serialization-vc140-mt-gd-1_64.lib
libboost_signals-vc140-mt-gd-1_64.lib
libboost_system-vc140-mt-gd-1_64.lib
libboost_test_exec_monitor-vc140-mt-gd-1_64.lib
libboost_thread-vc140-mt-gd-1_64.lib
libboost_timer-vc140-mt-gd-1_64.lib
libboost_type_erasure-vc140-mt-gd-1_64.lib
libboost_unit_test_framework-vc140-mt-gd-1_64.lib
libboost_wave-vc140-mt-gd-1_64.lib
libboost_wserialization-vc140-mt-gd-1_64.lib
libboost_zlib-vc140-mt-gd-1_64.lib
vtkzlib-8.0-gd.lib
vtkViewsContext2D-8.0-gd.lib
vtkhdf5_hl-8.0-gd.lib
vtkFiltersProgrammable-8.0-gd.lib
vtkIOMovie-8.0-gd.lib
vtkexpat-8.0-gd.lib
vtkRenderingLOD-8.0-gd.lib
vtkIOPLY-8.0-gd.lib
vtkpng-8.0-gd.lib
vtkIOVideo-8.0-gd.lib
vtkRenderingImage-8.0-gd.lib
vtkFiltersVerdict-8.0-gd.lib
vtkjpeg-8.0-gd.lib
vtkInteractionImage-8.0-gd.lib
vtkverdict-8.0-gd.lib
vtkoggtheora-8.0-gd.lib
vtkImagingStatistics-8.0-gd.lib
vtkCommonSystem-8.0-gd.lib
vtkFiltersParallelImaging-8.0-gd.lib
vtkFiltersTexture-8.0-gd.lib
vtkCommonMisc-8.0-gd.lib
vtkCommonMath-8.0-gd.lib
vtkFiltersSelection-8.0-gd.lib
vtkImagingFourier-8.0-gd.lib
vtkIOXMLParser-8.0-gd.lib
vtkproj4-8.0-gd.lib
vtkalglib-8.0-gd.lib
vtktiff-8.0-gd.lib
vtksqlite-8.0-gd.lib
vtkImagingSources-8.0-gd.lib
vtkCommonTransforms-8.0-gd.lib
vtkImagingMath-8.0-gd.lib
vtkFiltersGeneric-8.0-gd.lib
vtkexoIIc-8.0-gd.lib
vtkfreetype-8.0-gd.lib
vtkImagingColor-8.0-gd.lib
vtknetcdf_c++-gd.lib
vtkFiltersImaging-8.0-gd.lib
vtkFiltersHyperTree-8.0-gd.lib
vtkImagingMorphological-8.0-gd.lib
vtkImagingStencil-8.0-gd.lib
vtkRenderingFreeType-8.0-gd.lib
vtkCommonColor-8.0-gd.lib
vtkjsoncpp-8.0-gd.lib
vtkRenderingContext2D-8.0-gd.lib
vtkFiltersAMR-8.0-gd.lib
vtkRenderingContextOpenGL-8.0-gd.lib
vtkIOParallelXML-8.0-gd.lib
vtkViewsCore-8.0-gd.lib
vtkImagingHybrid-8.0-gd.lib
vtkIOExport-8.0-gd.lib
vtkRenderingVolumeOpenGL-8.0-gd.lib
vtkIOImport-8.0-gd.lib
vtkDomainsChemistry-8.0-gd.lib
vtkInteractionStyle-8.0-gd.lib
vtkCommonComputationalGeometry-8.0-gd.lib
vtkDICOMParser-8.0-gd.lib
vtklibxml2-8.0-gd.lib
vtkIOMINC-8.0-gd.lib
vtkIOSQL-8.0-gd.lib
vtkFiltersModeling-8.0-gd.lib
vtkParallelCore-8.0-gd.lib
vtkIOAMR-8.0-gd.lib
vtkGeovisCore-8.0-gd.lib
vtksys-8.0-gd.lib
vtkIOEnSight-8.0-gd.lib
vtkImagingGeneral-8.0-gd.lib
vtkFiltersFlowPaths-8.0-gd.lib
vtkIOLSDyna-8.0-gd.lib
vtkFiltersSMP-8.0-gd.lib
vtkIOParallel-8.0-gd.lib
vtkFiltersGeometry-8.0-gd.lib
vtkInfovisLayout-8.0-gd.lib
vtkIOCore-8.0-gd.lib
vtkFiltersSources-8.0-gd.lib
vtkIOLegacy-8.0-gd.lib
vtkFiltersHybrid-8.0-gd.lib
vtkIONetCDF-8.0-gd.lib
vtkFiltersExtraction-8.0-gd.lib
vtkFiltersParallel-8.0-gd.lib
vtkRenderingLabel-8.0-gd.lib
vtkIOInfovis-8.0-gd.lib
vtkRenderingAnnotation-8.0-gd.lib
vtkImagingCore-8.0-gd.lib
vtkCommonExecutionModel-8.0-gd.lib
vtkhdf5-8.0-gd.lib
vtkViewsInfovis-8.0-gd.lib
vtkIOGeometry-8.0-gd.lib
vtkmetaio-8.0-gd.lib
vtkIOImage-8.0-gd.lib
vtkIOXML-8.0-gd.lib
vtkIOExodus-8.0-gd.lib
vtkRenderingVolume-8.0-gd.lib
vtkChartsCore-8.0-gd.lib
vtkFiltersStatistics-8.0-gd.lib
vtkInfovisCore-8.0-gd.lib
vtkRenderingCore-8.0-gd.lib
vtkInteractionWidgets-8.0-gd.lib
vtkRenderingOpenGL-8.0-gd.lib
vtkFiltersGeneral-8.0-gd.lib
vtkFiltersCore-8.0-gd.lib
vtkCommonDataModel-8.0-gd.lib
vtkCommonCore-8.0-gd.lib
flann_cpp_s-gd.lib
qhullstatic_d.lib
OpenNI2.lib

_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS

测试程序：

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>//标准C++库中的输入输出类相关头文件。
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>//pcd 读写类相关的头文件。
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h> //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<pcl::PointXYZ> cloud;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);
	cloud = *cloud_ptr;
	
	if (pcl::io::loadPCDFile<pcl::PointXYZ>("rabbit.pcd", *cloud_ptr) == -1) {
		cout << "error input!" << endl;
		return -1;
	}

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

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

总结一下几个坑：

PCL1.8.0和PCL1.8.1的lib还真不是改个版本号就行的，复制lib的时候一定要看清楚版本。比如Ptr问题：D:\pcl\PCL1.8.1\include\pcl-1.8;D:\pcl\PCL1.8.1\3rdParty\FLANN\include;D:\pcl\PCL1.8.1\3rdParty\Eigen\eigen3;D:\pcl\PCL1.8.1\3rdParty\Qhull\include;D:\pcl\PCL1.8.1\3rdParty\Boost\include\boost-1_64;D:\pcl\PCL1.8.1\3rdParty\VTK\include\vtk-8.0;D:\pcl\PCL1.8.1\3rdParty\OpenNI2\Include;$(VC_IncludePath);

使用VS创建win32控制台程序总是会预编译头，直接属性里关了就行，不然就会报一些莫名其妙的错