PCL学习记录（一）：WIN10+VS2017+PCL1.8.1环境配置过程

前言（废话可以不看）：

        接触三维视觉也有一段时间了，学习了很多前辈的博客，在此感谢你们的无私奉献。我一直是一个不喜欢总结的坏孩子，我觉得很有必要不断改正这个习惯，因此以此学习记录来总结自己的进步过程。虽然已经有很多前辈总结过了，但毕竟每个人遇到的情况不一样，而且有很多教程其实也有一些误导性，之前就遇到过，所以不管怎么样，要学会区分有用信息和误导信息。本文也只是我个人的学习记录，下次电脑又崩了的时候也方便我自己在此配置！（装了双系统，所以你懂的~）

首先还是环境配置记录，PCL在win10下的环境配置其实挺烦的，个人不喜欢win10环境下配置，但是又割舍不掉WIN10,装了个双系统WIN10+Ubuntu16.04。下次把Ubuntu16.04下的配置也记录一下，Ubuntu下真的太方便了，我已经爱上这个系统，等我哪天放弃WIN10就直接装Ubuntu吧！

废话到此结束，Let's do it!

在此之前还请自行安装VS哦！

 

一，安装配置

PCL下载：https://github.com/PointCloudLibrary/pcl/releases  

step01

 

根据个人电脑环境下载 即可，此处下载的是：

 

PCL-1.8.1-AllInOne-msvc2017-win64.exe

 

pcl-1.8.1-pdb-msvc2017-win64.zip

step02 安装

双击PCL-1.8.1-AllInOne-msvc2017-win64.exe  直接点击下一步，到如下界面选择添加路径

 选择安装路径

然后就下一步，直接到安装

注意：安装过程中，会等待一段时间安装，会跳出一个界面让你选择OpenNI的安装路径，直接选择PCL安装路径下的3rdparty作为路径即可：

我已经安装过了，就不贴图啦！

就安装结束了。

重要：刚才下载的pdb文件解压拷贝至PCL的安装路径下：

放置在bin文件夹路径下 

step 03  环境变量设置 

在环境变量中添加如图红框中的PCL路径，不知道怎么添加就找搜索引擎哦！

 重启让环境变量生效！！！

 

二，VS2017中进行PCL开发环境配置

在VS2017中新建一个空项目，点击属性管理器添加两个属性表，命名PCL1.8.1Debug64,PCL1.8.1Release，分别用于Debug64,Release64环境下进行PCL开发，以后直接加载进来就行，不需要再配置。

双击添加的属性表，按照自己的PCL安装路径进行配置：

VC++目录——包含目录

VC++目录——库目录

 

链接器——输入——附加依赖项 

这里Debug和Release的不一样，分别配置即可，分别如下：

Debug版本 ：

vtknetcdf_c++-gd.lib
pcl_common_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_io_ply_debug.lib
pcl_io_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-1_64.lib
libboost_bzip2-vc141-mt-gd-1_64.lib
libboost_chrono-vc141-mt-gd-1_64.lib
libboost_container-vc141-mt-gd-1_64.lib
libboost_context-vc141-mt-gd-1_64.lib
libboost_coroutine-vc141-mt-gd-1_64.lib
libboost_date_time-vc141-mt-gd-1_64.lib
libboost_exception-vc141-mt-gd-1_64.lib
libboost_fiber-vc141-mt-gd-1_64.lib
libboost_filesystem-vc141-mt-gd-1_64.lib
libboost_graph-vc141-mt-gd-1_64.lib
libboost_graph_parallel-vc141-mt-gd-1_64.lib
libboost_iostreams-vc141-mt-gd-1_64.lib
libboost_locale-vc141-mt-gd-1_64.lib
libboost_log-vc141-mt-gd-1_64.lib
libboost_log_setup-vc141-mt-gd-1_64.lib
libboost_math_c99-vc141-mt-gd-1_64.lib
libboost_math_c99f-vc141-mt-gd-1_64.lib
libboost_math_c99l-vc141-mt-gd-1_64.lib
libboost_math_tr1-vc141-mt-gd-1_64.lib
libboost_math_tr1f-vc141-mt-gd-1_64.lib
libboost_math_tr1l-vc141-mt-gd-1_64.lib
libboost_mpi-vc141-mt-gd-1_64.lib
libboost_numpy3-vc141-mt-gd-1_64.lib
libboost_numpy-vc141-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib
libboost_program_options-vc141-mt-gd-1_64.lib
libboost_python3-vc141-mt-gd-1_64.lib
libboost_python-vc141-mt-gd-1_64.lib
libboost_random-vc141-mt-gd-1_64.lib
libboost_regex-vc141-mt-gd-1_64.lib
libboost_serialization-vc141-mt-gd-1_64.lib
libboost_signals-vc141-mt-gd-1_64.lib
libboost_system-vc141-mt-gd-1_64.lib
libboost_test_exec_monitor-vc141-mt-gd-1_64.lib
libboost_thread-vc141-mt-gd-1_64.lib
libboost_timer-vc141-mt-gd-1_64.lib
libboost_type_erasure-vc141-mt-gd-1_64.lib
libboost_unit_test_framework-vc141-mt-gd-1_64.lib
libboost_wave-vc141-mt-gd-1_64.lib
libboost_wserialization-vc141-mt-gd-1_64.lib
libboost_zlib-vc141-mt-gd-1_64.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
qhull_d.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_r_d.lib
qhull_p_d.lib
qhull_r_d.lib
vtkalglib-8.0-gd.lib
vtkChartsCore-8.0-gd.lib
vtkCommonColor-8.0-gd.lib
vtkCommonComputationalGeometry-8.0-gd.lib
vtkCommonCore-8.0-gd.lib
vtkCommonDataModel-8.0-gd.lib
vtkCommonExecutionModel-8.0-gd.lib
vtkCommonMath-8.0-gd.lib
vtkCommonMisc-8.0-gd.lib
vtkCommonSystem-8.0-gd.lib
vtkCommonTransforms-8.0-gd.lib
vtkDICOMParser-8.0-gd.lib
vtkDomainsChemistry-8.0-gd.lib
vtkexoIIc-8.0-gd.lib
vtkexpat-8.0-gd.lib
vtkFiltersAMR-8.0-gd.lib
vtkFiltersCore-8.0-gd.lib
vtkFiltersExtraction-8.0-gd.lib
vtkFiltersFlowPaths-8.0-gd.lib
vtkFiltersGeneral-8.0-gd.lib
vtkFiltersGeneric-8.0-gd.lib
vtkFiltersGeometry-8.0-gd.lib
vtkFiltersHybrid-8.0-gd.lib
vtkFiltersHyperTree-8.0-gd.lib
vtkFiltersImaging-8.0-gd.lib
vtkFiltersModeling-8.0-gd.lib
vtkFiltersParallel-8.0-gd.lib
vtkFiltersParallelImaging-8.0-gd.lib
vtkFiltersPoints-8.0-gd.lib
vtkFiltersProgrammable-8.0-gd.lib
vtkFiltersSelection-8.0-gd.lib
vtkFiltersSMP-8.0-gd.lib
vtkFiltersSources-8.0-gd.lib
vtkFiltersStatistics-8.0-gd.lib
vtkFiltersTexture-8.0-gd.lib
vtkFiltersTopology-8.0-gd.lib
vtkFiltersVerdict-8.0-gd.lib
vtkfreetype-8.0-gd.lib
vtkGeovisCore-8.0-gd.lib
vtkgl2ps-8.0-gd.lib
vtkhdf5-8.0-gd.lib
vtkhdf5_hl-8.0-gd.lib
vtkImagingColor-8.0-gd.lib
vtkImagingCore-8.0-gd.lib
vtkImagingFourier-8.0-gd.lib
vtkImagingGeneral-8.0-gd.lib
vtkImagingHybrid-8.0-gd.lib
vtkImagingMath-8.0-gd.lib
vtkImagingMorphological-8.0-gd.lib
vtkImagingSources-8.0-gd.lib
vtkImagingStatistics-8.0-gd.lib
vtkImagingStencil-8.0-gd.lib
vtkInfovisCore-8.0-gd.lib
vtkInfovisLayout-8.0-gd.lib
vtkInteractionImage-8.0-gd.lib
vtkInteractionStyle-8.0-gd.lib
vtkInteractionWidgets-8.0-gd.lib
vtkIOAMR-8.0-gd.lib
vtkIOCore-8.0-gd.lib
vtkIOEnSight-8.0-gd.lib
vtkIOExodus-8.0-gd.lib
vtkIOExport-8.0-gd.lib
vtkIOExportOpenGL-8.0-gd.lib
vtkIOGeometry-8.0-gd.lib
vtkIOImage-8.0-gd.lib
vtkIOImport-8.0-gd.lib
vtkIOInfovis-8.0-gd.lib
vtkIOLegacy-8.0-gd.lib
vtkIOLSDyna-8.0-gd.lib
vtkIOMINC-8.0-gd.lib
vtkIOMovie-8.0-gd.lib
vtkIONetCDF-8.0-gd.lib
vtkIOParallel-8.0-gd.lib
vtkIOParallelXML-8.0-gd.lib
vtkIOPLY-8.0-gd.lib
vtkIOSQL-8.0-gd.lib
vtkIOTecplotTable-8.0-gd.lib
vtkIOVideo-8.0-gd.lib
vtkIOXML-8.0-gd.lib
vtkIOXMLParser-8.0-gd.lib
vtkjpeg-8.0-gd.lib
vtkjsoncpp-8.0-gd.lib
vtklibharu-8.0-gd.lib
vtklibxml2-8.0-gd.lib
vtklz4-8.0-gd.lib
vtkmetaio-8.0-gd.lib
vtkNetCDF-8.0-gd.lib
vtkoggtheora-8.0-gd.lib
vtkParallelCore-8.0-gd.lib
vtkpng-8.0-gd.lib
vtkproj4-8.0-gd.lib
vtkRenderingAnnotation-8.0-gd.lib
vtkRenderingContext2D-8.0-gd.lib
vtkRenderingContextOpenGL-8.0-gd.lib
vtkRenderingCore-8.0-gd.lib
vtkRenderingFreeType-8.0-gd.lib
vtkRenderingGL2PS-8.0-gd.lib
vtkRenderingImage-8.0-gd.lib
vtkRenderingLabel-8.0-gd.lib
vtkRenderingLIC-8.0-gd.lib
vtkRenderingLOD-8.0-gd.lib
vtkRenderingOpenGL-8.0-gd.lib
vtkRenderingVolume-8.0-gd.lib
vtkRenderingVolumeOpenGL-8.0-gd.lib
vtksqlite-8.0-gd.lib
vtksys-8.0-gd.lib
vtktiff-8.0-gd.lib
vtkverdict-8.0-gd.lib
vtkViewsContext2D-8.0-gd.lib
vtkViewsCore-8.0-gd.lib
vtkViewsInfovis-8.0-gd.lib
vtkzlib-8.0-gd.lib
opengl32.lib

Release版本

pcl_common_release.lib
pcl_features_release.lib
pcl_filters_release.lib
pcl_io_ply_release.lib
pcl_io_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
libboost_atomic-vc141-mt-1_64.lib
libboost_bzip2-vc141-mt-1_64.lib
libboost_chrono-vc141-mt-1_64.lib
libboost_container-vc141-mt-1_64.lib
libboost_context-vc141-mt-1_64.lib
libboost_coroutine-vc141-mt-1_64.lib
libboost_date_time-vc141-mt-1_64.lib
libboost_exception-vc141-mt-1_64.lib
libboost_fiber-vc141-mt-1_64.lib
libboost_filesystem-vc141-mt-1_64.lib
libboost_graph-vc141-mt-1_64.lib
libboost_graph_parallel-vc141-mt-1_64.lib
libboost_iostreams-vc141-mt-1_64.lib
libboost_locale-vc141-mt-1_64.lib
libboost_log-vc141-mt-1_64.lib
libboost_log_setup-vc141-mt-1_64.lib
libboost_math_c99-vc141-mt-1_64.lib
libboost_math_c99f-vc141-mt-1_64.lib
libboost_math_c99l-vc141-mt-1_64.lib
libboost_math_tr1-vc141-mt-1_64.lib
libboost_math_tr1f-vc141-mt-1_64.lib
libboost_math_tr1l-vc141-mt-1_64.lib
libboost_mpi-vc141-mt-1_64.lib
libboost_numpy-vc141-mt-1_64.lib
libboost_numpy3-vc141-mt-1_64.lib
libboost_prg_exec_monitor-vc141-mt-1_64.lib
libboost_program_options-vc141-mt-1_64.lib
libboost_python-vc141-mt-1_64.lib
libboost_python3-vc141-mt-1_64.lib
libboost_random-vc141-mt-1_64.lib
libboost_regex-vc141-mt-1_64.lib
libboost_serialization-vc141-mt-1_64.lib
libboost_signals-vc141-mt-1_64.lib
libboost_system-vc141-mt-1_64.lib
libboost_test_exec_monitor-vc141-mt-1_64.lib
libboost_thread-vc141-mt-1_64.lib
libboost_timer-vc141-mt-1_64.lib
libboost_type_erasure-vc141-mt-1_64.lib
libboost_unit_test_framework-vc141-mt-1_64.lib
libboost_wave-vc141-mt-1_64.lib
libboost_wserialization-vc141-mt-1_64.lib
libboost_zlib-vc141-mt-1_64.lib
OpenNI2.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
vtkFiltersPoints-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
vtkFiltersTopology-8.0.lib
vtkFiltersVerdict-8.0.lib
vtkfreetype-8.0.lib
vtkGeovisCore-8.0.lib
vtkgl2ps-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
vtkIOExportOpenGL-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
vtkIOParallelXML-8.0.lib
vtkIOPLY-8.0.lib
vtkIOSQL-8.0.lib
vtkIOTecplotTable-8.0.lib
vtkIOVideo-8.0.lib
vtkIOXML-8.0.lib
vtkIOXMLParser-8.0.lib
vtkjpeg-8.0.lib
vtkjsoncpp-8.0.lib
vtklibharu-8.0.lib
vtklibxml2-8.0.lib
vtklz4-8.0.lib
vtkmetaio-8.0.lib
vtkNetCDF-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
vtkRenderingContextOpenGL-8.0.lib
vtkRenderingCore-8.0.lib
vtkRenderingFreeType-8.0.lib
vtkRenderingGL2PS-8.0.lib
vtkRenderingImage-8.0.lib
vtkRenderingLabel-8.0.lib
vtkRenderingLIC-8.0.lib
vtkRenderingLOD-8.0.lib
vtkRenderingOpenGL-8.0.lib
vtkRenderingVolume-8.0.lib
vtkRenderingVolumeOpenGL-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
qhull_p.lib
qhull_r.lib
qhull.lib
qhullcpp.lib
qhullstatic.lib
qhullstatic_r.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_s.lib

结语：配置结束后运行报错一般都是开发环境配置的问题，很多都能搜索引擎解决，万变不离其中，不需要慌！！！

至此开发环境就配置结束啦！愉快的畅游在美丽的三维视觉世界去吧！！