PCL 1.8.0 +VS2015配置

因为要做三维重建，所以想用三维点云处理库Point Cloud Library（PCL），找了几篇博文按照要求装了一下午的依赖库，后来发现已经出了PCL 1.8.0的all-in-one，

下载链接：http://pointclouds.org/downloads/windows.html

上面有各种版本：

PCL 1.8.0 All-in-one Installer MSVC2015 Win64

PCL 1.8.0 All-in-one Installer MSVC2015 Win32

PCL 1.8.0 All-in-one Installer MSVC2013 Win32

PCL 1.8.0 All-in-one Installer MSVC2013 Win64

还提供了各自的PDB调试文件，大家可以根据自己的需要下载，下载后解压到pcl_all_in_one 1.8.0安装目录的bin文件夹下。

配置过程如下：

安装的版本是PCL-1.8.0-AllInOne-msvc2015-win64

配置过程可参考博客：http://blog.csdn.net/u014283958/article/details/52599457

1.下载安装

下载并安装PCL 1.8.0 All-in-one Installer MSVC2015 Win64

安装时选择好自己的安装路径，如本文用的是：D:\Program Files\PCL 1.8.0

然后一直点下一步即可，注意在安装openni时要选择你之前PCL安装路径的的3rdParty文件夹下，在这里就是D:\Program Files\PCL 1.8.0\3rdParty

最后完成安装

2、配置环境变量

安装完成后在系统变量中会出现：（如果没有可以手动添加）



然后在系统变量Path里加入：;%PCL_ROOT%\bin;%OPENNI2_REDIST64% (or %OPENNI2_REDIST%要根据自己系统)

3.设置包含目录

在VS里新建项目并在属性管理器中的VC++的包含目录中添加：

D:\Program Files\PCL 1.8.0\include\pcl-1.8

D:\Program Files\PCL 1.8.0\3rdParty\Boost\include\boost-1_61

D:\Program Files\PCL 1.8.0\3rdParty\Qhull\include

D:\Program Files\PCL 1.8.0\3rdParty\FLANN\include\flann

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

D:\Program Files\PCL 1.8.0\3rdParty\Eigen\eigen3

4.设置库目录

在VC++的库目录中添加：

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

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

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

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

D:\Program Files\PCL 1.8.0\lib

5.设置附加依赖项（PCL 1.8.0 All-in-one Installer MSVC2015 Win64版本的原博客的附加项编译通不过）

后来找个这个博客的附加列表是可以的 http://blog.csdn.net/zpp13hao1/article/details/61916222

附加项的列表如下：

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_61.lib

libboost_chrono-vc140-mt-gd-1_61.lib

libboost_container-vc140-mt-gd-1_61.lib

libboost_context-vc140-mt-gd-1_61.lib

libboost_coroutine-vc140-mt-gd-1_61.lib

libboost_date_time-vc140-mt-gd-1_61.lib

libboost_exception-vc140-mt-gd-1_61.lib

libboost_filesystem-vc140-mt-gd-1_61.lib

libboost_graph-vc140-mt-gd-1_61.lib

libboost_iostreams-vc140-mt-gd-1_61.lib

libboost_locale-vc140-mt-gd-1_61.lib

libboost_log-vc140-mt-gd-1_61.lib

libboost_log_setup-vc140-mt-gd-1_61.lib

libboost_math_c99-vc140-mt-gd-1_61.lib

libboost_math_c99f-vc140-mt-gd-1_61.lib

libboost_math_c99l-vc140-mt-gd-1_61.lib

libboost_math_tr1-vc140-mt-gd-1_61.lib

libboost_math_tr1f-vc140-mt-gd-1_61.lib

libboost_math_tr1l-vc140-mt-gd-1_61.lib

libboost_mpi-vc140-mt-gd-1_61.lib

libboost_prg_exec_monitor-vc140-mt-gd-1_61.lib

libboost_program_options-vc140-mt-gd-1_61.lib

libboost_random-vc140-mt-gd-1_61.lib

libboost_regex-vc140-mt-gd-1_61.lib

libboost_serialization-vc140-mt-gd-1_61.lib

libboost_signals-vc140-mt-gd-1_61.lib

libboost_system-vc140-mt-gd-1_61.lib

libboost_test_exec_monitor-vc140-mt-gd-1_61.lib

libboost_thread-vc140-mt-gd-1_61.lib

libboost_timer-vc140-mt-gd-1_61.lib

libboost_type_erasure-vc140-mt-gd-1_61.lib

libboost_unit_test_framework-vc140-mt-gd-1_61.lib

libboost_wave-vc140-mt-gd-1_61.lib

libboost_wserialization-vc140-mt-gd-1_61.lib

vtkzlib-7.0-gd.lib

vtkViewsContext2D-7.0-gd.lib

vtkhdf5_hl-7.0-gd.lib

vtkFiltersProgrammable-7.0-gd.lib

vtkIOMovie-7.0-gd.lib

vtkexpat-7.0-gd.lib

vtkRenderingLOD-7.0-gd.lib

vtkIOPLY-7.0-gd.lib

vtkpng-7.0-gd.lib

vtkIOVideo-7.0-gd.lib

vtkRenderingImage-7.0-gd.lib

vtkFiltersVerdict-7.0-gd.lib

vtkNetCDF_cxx-7.0-gd.lib

vtkjpeg-7.0-gd.lib

vtkInteractionImage-7.0-gd.lib

vtkverdict-7.0-gd.lib

vtkoggtheora-7.0-gd.lib

vtkImagingStatistics-7.0-gd.lib

vtkCommonSystem-7.0-gd.lib

vtkFiltersParallelImaging-7.0-gd.lib

vtkFiltersTexture-7.0-gd.lib

vtkCommonMisc-7.0-gd.lib

vtkCommonMath-7.0-gd.lib

vtkFiltersSelection-7.0-gd.lib

vtkImagingFourier-7.0-gd.lib

vtkIOXMLParser-7.0-gd.lib

vtkproj4-7.0-gd.lib

vtkalglib-7.0-gd.lib

vtktiff-7.0-gd.lib

vtksqlite-7.0-gd.lib

vtkImagingSources-7.0-gd.lib

vtkCommonTransforms-7.0-gd.lib

vtkImagingMath-7.0-gd.lib

vtkFiltersGeneric-7.0-gd.lib

vtkexoIIc-7.0-gd.lib

vtkfreetype-7.0-gd.lib

vtkImagingColor-7.0-gd.lib

vtkNetCDF-7.0-gd.lib

vtkFiltersImaging-7.0-gd.lib

vtkFiltersHyperTree-7.0-gd.lib

vtkImagingMorphological-7.0-gd.lib

vtkImagingStencil-7.0-gd.lib

vtkRenderingFreeType-7.0-gd.lib

vtkCommonColor-7.0-gd.lib

vtkjsoncpp-7.0-gd.lib

vtkRenderingContext2D-7.0-gd.lib

vtkFiltersAMR-7.0-gd.lib

vtkRenderingContextOpenGL-7.0-gd.lib

vtkIOParallelXML-7.0-gd.lib

vtkViewsCore-7.0-gd.lib

vtkImagingHybrid-7.0-gd.lib

vtkIOExport-7.0-gd.lib

vtkRenderingVolumeOpenGL-7.0-gd.lib

vtkIOImport-7.0-gd.lib

vtkDomainsChemistry-7.0-gd.lib

vtkInteractionStyle-7.0-gd.lib

vtkCommonComputationalGeometry-7.0-gd.lib

vtkDICOMParser-7.0-gd.lib

vtklibxml2-7.0-gd.lib

vtkIOMINC-7.0-gd.lib

vtkIOSQL-7.0-gd.lib

vtkFiltersModeling-7.0-gd.lib

vtkParallelCore-7.0-gd.lib

vtkIOAMR-7.0-gd.lib

vtkGeovisCore-7.0-gd.lib

vtksys-7.0-gd.lib

vtkIOEnSight-7.0-gd.lib

vtkImagingGeneral-7.0-gd.lib

vtkFiltersFlowPaths-7.0-gd.lib

vtkIOLSDyna-7.0-gd.lib

vtkFiltersSMP-7.0-gd.lib

vtkIOParallel-7.0-gd.lib

vtkFiltersGeometry-7.0-gd.lib

vtkInfovisLayout-7.0-gd.lib

vtkIOCore-7.0-gd.lib

vtkFiltersSources-7.0-gd.lib

vtkIOLegacy-7.0-gd.lib

vtkFiltersHybrid-7.0-gd.lib

vtkIONetCDF-7.0-gd.lib

vtkFiltersExtraction-7.0-gd.lib

vtkFiltersParallel-7.0-gd.lib

vtkRenderingLabel-7.0-gd.lib

vtkIOInfovis-7.0-gd.lib

vtkRenderingAnnotation-7.0-gd.lib

vtkImagingCore-7.0-gd.lib

vtkCommonExecutionModel-7.0-gd.lib

vtkhdf5-7.0-gd.lib

vtkViewsInfovis-7.0-gd.lib

vtkIOGeometry-7.0-gd.lib

vtkmetaio-7.0-gd.lib

vtkIOImage-7.0-gd.lib

vtkIOXML-7.0-gd.lib

vtkIOExodus-7.0-gd.lib

vtkRenderingVolume-7.0-gd.lib

vtkChartsCore-7.0-gd.lib

vtkFiltersStatistics-7.0-gd.lib

vtkInfovisCore-7.0-gd.lib

vtkRenderingCore-7.0-gd.lib

vtkInteractionWidgets-7.0-gd.lib

vtkRenderingOpenGL-7.0-gd.lib

vtkFiltersGeneral-7.0-gd.lib

vtkFiltersCore-7.0-gd.lib

vtkCommonDataModel-7.0-gd.lib

vtkCommonCore-7.0-gd.lib

flann_cpp_s-gd.lib

qhullstatic_d.lib

OpenNI2.lib

至此配置完成

配置的文件见：链接: https://pan.baidu.com/s/1gfaghVl 密码: 3ank

配置完成之后的测试

新建一个VC的控制台程序，代码如下：

#include "stdafx.h"
#include <pcl/io/io.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>

int main()
{

pcl::PointCloud<pcl::PointXYZ>::Ptr cl_model(new pcl::PointCloud<pcl::PointXYZ>);
if (pcl::io::loadPLYFile("model_1.ply", *cl_model) == -1)
{
PCL_ERROR("Could not read ply file!\n");
return -1;
}
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("PointsCloud Recognition"));
viewer->addPointCloud(cl_model, "model_cloud");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
return 0;
}

代码中的model_1.ply见：链接: https://pan.baidu.com/s/1pL5DSs7 密码: hjgd

效果如下：注意，图中红框