【PCL 1.9.1】+【VS2017】 debug模式配置环境

  这几天在学习云点，发现网上面没有pcl 1.9.1的配置参数，include和lib库路径好配置，但是附加依赖项特别多，容易错，在这里列出win 10+VS2017 debug模式下的附加依赖项。

先下载pcl最新安装包all-in-one 1.9.1，下载地址https://github.com/PointCloudLibrary/pcl/releases，下载完成安装，最好默认，安装选项点第二个，添加环境变量到系统。OPenN I安装到PCL 1.9.1\3rdParty\OpenNI2，啥的不多说了，网上写的很详细。

下面就是配置：

依赖项：

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-vc141-mt-gd-x64-1_68.lib
libboost_bzip2-vc141-mt-gd-x64-1_68.lib
libboost_chrono-vc141-mt-gd-x64-1_68.lib
libboost_container-vc141-mt-gd-x64-1_68.lib
libboost_context-vc141-mt-gd-x64-1_68.lib
libboost_contract-vc141-mt-gd-x64-1_68.lib
libboost_coroutine-vc141-mt-gd-x64-1_68.lib
libboost_date_time-vc141-mt-gd-x64-1_68.lib
libboost_exception-vc141-mt-gd-x64-1_68.lib
libboost_fiber-vc141-mt-gd-x64-1_68.lib
libboost_filesystem-vc141-mt-gd-x64-1_68.lib
libboost_graph_parallel-vc141-mt-gd-x64-1_68.lib
libboost_graph-vc141-mt-gd-x64-1_68.lib
libboost_iostreams-vc141-mt-gd-x64-1_68.lib
libboost_locale-vc141-mt-gd-x64-1_68.lib
libboost_log_setup-vc141-mt-gd-x64-1_68.lib
libboost_log-vc141-mt-gd-x64-1_68.lib
libboost_math_c99f-vc141-mt-gd-x64-1_68.lib
libboost_math_c99l-vc141-mt-gd-x64-1_68.lib
libboost_math_c99-vc141-mt-gd-x64-1_68.lib
libboost_math_tr1f-vc141-mt-gd-x64-1_68.lib
libboost_math_tr1l-vc141-mt-gd-x64-1_68.lib
libboost_math_tr1-vc141-mt-gd-x64-1_68.lib
libboost_mpi-vc141-mt-gd-x64-1_68.lib
libboost_numpy27-vc141-mt-gd-x64-1_68.lib
libboost_numpy37-vc141-mt-gd-x64-1_68.lib
libboost_program_options-vc141-mt-gd-x64-1_68.lib
libboost_prg_exec_monitor-vc141-mt-gd-x64-1_68.lib
libboost_python27-vc141-mt-gd-x64-1_68.lib
libboost_python37-vc141-mt-gd-x64-1_68.lib
libboost_random-vc141-mt-gd-x64-1_68.lib
libboost_regex-vc141-mt-gd-x64-1_68.lib
libboost_serialization-vc141-mt-gd-x64-1_68.lib
libboost_signals-vc141-mt-gd-x64-1_68.lib
libboost_stacktrace_noop-vc141-mt-gd-x64-1_68.lib
libboost_stacktrace_windbg_cached-vc141-mt-gd-x64-1_68.lib
libboost_stacktrace_windbg-vc141-mt-gd-x64-1_68.lib
libboost_system-vc141-mt-gd-x64-1_68.lib
libboost_test_exec_monitor-vc141-mt-gd-x64-1_68.lib
libboost_thread-vc141-mt-gd-x64-1_68.lib
libboost_timer-vc141-mt-gd-x64-1_68.lib
libboost_type_erasure-vc141-mt-gd-x64-1_68.lib
libboost_unit_test_framework-vc141-mt-gd-x64-1_68.lib
libboost_wave-vc141-mt-gd-x64-1_68.lib
libboost_wserialization-vc141-mt-gd-x64-1_68.lib
libboost_zlib-vc141-mt-gd-x64-1_68.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_cpp_s-gd.lib
flann_cpp-gd.lib
flann_s.lib
flann_s-gd.lib
flann-gd.lib
OpenNI2.lib
qhull.lib
qhull_d.lib
qhull_p.lib
qhull_p_d.lib
qhull_r.lib
qhull_r_d.lib
qhullcpp.lib
qhullcpp_d.lib
qhullstatic.lib
qhullstatic_d.lib
qhullstatic_r.lib
qhullstatic_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

关闭SDL检查；

系统环境变量：

path添加内容：

【测试】

测试程序

#include "pch.h"
#include <iostream>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
using namespace std;

//可视化工具注册
boost::shared_ptr<pcl::visualization::PCLVisualizer> simplevisual(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D viewer"));
	viewer->setBackgroundColor(0.0,0.0,0.0);
	viewer->addPointCloud<pcl::PointXYZ>(cloud,"sample cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,1.0,"sample cloud");
	viewer->addCoordinateSystem(1.0);
	viewer->initCameraParameters();
	return viewer;
}

int main()
{
	//load pcd file
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	if (pcl::io::loadPCDFile<pcl::PointXYZ>("D:\\PCL\\1\\1\\x64\\Debug\\rabbit1.pcd", *cloud) == -1)
	{
		PCL_ERROR("Couldn't read file rabbit1.pcd \n");
		return(-1);
	}

	cout<< "Loaded "
		<< cloud->width * cloud->height
		<< " data points from test_file.pcd with the following fields: "
		<< endl;

	//show
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = simplevisual(cloud);
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
	return 0;
}

执行结果：

可以执行了，但是还一堆警告。