1 PCL 1.7.2库简单安装教程

本教程以vs2013，windows10 64位为例。PCL安装分为两种方法，第一种，直接从PCL源代码编译，后安装；第二种，使用PCL的All-in-one已经编译好的安装包安装，本文属于第二种方法。

一：下载并安装PCL

1.pcl下载地址：http://pan.baidu.com/s/1qW1nkYg。

2.按照自己的需求选择安装版本，比如我这里选的就是vs2013 64位的版本。

二：修改环境变量Path

在系统环境变量后面添加：;C:\Program Files\PCL 1.7.2\bin;C:\Program Files\PCL 1.7.2\3rdParty\FLANN\bin;C:\Program Files\PCL 1.7.2\3rdParty\VTK\bin;C:\Program Files\PCL 1.7.2\3rdParty\Qhull\bin

请不要复制上面的，根据自己的安装路径修改，另外要注意;在英文下输入，同时注意别少加;了。找不到path在哪里设置的自行百度。配置完path后，重启电脑让它生效。

三：配置VS2013开发环境

如果你的安装环境跟我的一样，可以直接在属性管理器里面添加现有属性表，将我的pcl属性添加进去即可使用了：我的pcl属性配置

1.由于我安装的是64为版本的pcl，需要把win32改成x64（再属性管理器或者debug那里更改）。

2.创建一个vs2013 c++程序，然后对vs进行配置(以下都是根据自己的路径进行修改)。

1.右键项目属性，点C/C++，再点常规，找到附加包含目录，添加如下:

C:\Program Files\PCL 1.7.2\include\pcl-1.7

C:\Program Files\PCL 1.7.2\3rdParty\Boost\include\boost-1_57

C:\Program Files\PCL 1.7.2\3rdParty\Eigen\eigen3

C:\Program Files\PCL 1.7.2\3rdParty\FLANN\include

C:\Program Files\PCL 1.7.2\3rdParty\Qhull\include

C:\Program Files\PCL 1.7.2\3rdParty\VTK\include\vtk-6.2

2.点链接器，再点常规，找到附加库目录，添加如下:

C:\Program Files\PCL 1.7.2\lib

C:\Program Files\PCL 1.7.2\3rdParty\Boost\lib

C:\Program Files\PCL 1.7.2\3rdParty\FLANN\lib

C:\Program Files\PCL 1.7.2\3rdParty\Qhull\lib

C:\Program Files\PCL 1.7.2\3rdParty\VTK\lib

3.点链接器，再点输入，找到附加依赖项，添加如下:

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_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_surface_debug.lib

pcl_tracking_debug.lib

pcl_visualization_debug.lib

libboost_atomic-vc120-mt-gd-1_57.lib

libboost_chrono-vc120-mt-gd-1_57.lib

libboost_container-vc120-mt-gd-1_57.lib

libboost_context-vc120-mt-gd-1_57.lib

libboost_coroutine-vc120-mt-gd-1_57.lib

libboost_date_time-vc120-mt-gd-1_57.lib

libboost_exception-vc120-mt-gd-1_57.lib

libboost_filesystem-vc120-mt-gd-1_57.lib

libboost_graph-vc120-mt-gd-1_57.lib

libboost_iostreams-vc120-mt-gd-1_57.lib

libboost_locale-vc120-mt-gd-1_57.lib

libboost_log-vc120-mt-gd-1_57.lib

libboost_log_setup-vc120-mt-gd-1_57.lib

libboost_math_c99-vc120-mt-gd-1_57.lib

libboost_math_c99f-vc120-mt-gd-1_57.lib

libboost_math_c99l-vc120-mt-gd-1_57.lib

libboost_math_tr1-vc120-mt-gd-1_57.lib

libboost_math_tr1f-vc120-mt-gd-1_57.lib

libboost_math_tr1l-vc120-mt-gd-1_57.lib

libboost_mpi-vc120-mt-gd-1_57.lib

libboost_prg_exec_monitor-vc120-mt-gd-1_57.lib

libboost_program_options-vc120-mt-gd-1_57.lib

libboost_random-vc120-mt-gd-1_57.lib

libboost_regex-vc120-mt-gd-1_57.lib

libboost_serialization-vc120-mt-gd-1_57.lib

libboost_signals-vc120-mt-gd-1_57.lib

libboost_system-vc120-mt-gd-1_57.lib

libboost_test_exec_monitor-vc120-mt-gd-1_57.lib

libboost_thread-vc120-mt-gd-1_57.lib

libboost_timer-vc120-mt-gd-1_57.lib

libboost_unit_test_framework-vc120-mt-gd-1_57.lib

libboost_wave-vc120-mt-gd-1_57.lib

libboost_wserialization-vc120-mt-gd-1_57.lib

flann_cpp_s-gd.lib

qhullstatic_d.lib

vtkalglib-6.2-gd.lib

vtkChartsCore-6.2-gd.lib

vtkCommonCore-6.2-gd.lib

vtkCommonColor-6.2-gd.lib

vtkCommonComputationalGeometry-6.2-gd.lib

vtkCommonDataModel-6.2-gd.lib

vtkCommonExecutionModel-6.2-gd.lib

vtkCommonMath-6.2-gd.lib

vtkCommonMisc-6.2-gd.lib

vtkCommonSystem-6.2-gd.lib

vtkCommonTransforms-6.2-gd.lib

vtkDICOMParser-6.2-gd.lib

vtkDomainsChemistry-6.2-gd.lib

vtkexoIIc-6.2-gd.lib

vtkexpat-6.2-gd.lib

vtkFiltersAMR-6.2-gd.lib

vtkFiltersCore-6.2-gd.lib

vtkFiltersExtraction-6.2-gd.lib

vtkFiltersFlowPaths-6.2-gd.lib

vtkFiltersGeneral-6.2-gd.lib

vtkFiltersGeneric-6.2-gd.lib

vtkFiltersGeometry-6.2-gd.lib

vtkFiltersHybrid-6.2-gd.lib

vtkFiltersHyperTree-6.2-gd.lib

vtkFiltersImaging-6.2-gd.lib

vtkFiltersModeling-6.2-gd.lib

vtkFiltersParallel-6.2-gd.lib

vtkFiltersParallelImaging-6.2-gd.lib

vtkFiltersProgrammable-6.2-gd.lib

vtkFiltersSelection-6.2-gd.lib

vtkFiltersSMP-6.2-gd.lib

vtkFiltersSources-6.2-gd.lib

vtkFiltersStatistics-6.2-gd.lib

vtkFiltersTexture-6.2-gd.lib

vtkFiltersVerdict-6.2-gd.lib

vtkfreetype-6.2-gd.lib

vtkftgl-6.2-gd.lib

vtkGeovisCore-6.2-gd.lib

vtkgl2ps-6.2-gd.lib

vtkhdf5-6.2-gd.lib

vtkhdf5_hl-6.2-gd.lib

vtkImagingColor-6.2-gd.lib

vtkImagingCore-6.2-gd.lib

vtkImagingFourier-6.2-gd.lib

vtkImagingGeneral-6.2-gd.lib

vtkImagingHybrid-6.2-gd.lib

vtkImagingMath-6.2-gd.lib

vtkImagingMorphological-6.2-gd.lib

vtkImagingSources-6.2-gd.lib

vtkImagingStatistics-6.2-gd.lib

vtkImagingStencil-6.2-gd.lib

vtkInfovisCore-6.2-gd.lib

vtkInfovisLayout-6.2-gd.lib

vtkInteractionImage-6.2-gd.lib

vtkInteractionStyle-6.2-gd.lib

vtkInteractionWidgets-6.2-gd.lib

vtkIOAMR-6.2-gd.lib

vtkIOCore-6.2-gd.lib

vtkIOEnSight-6.2-gd.lib

vtkIOExodus-6.2-gd.lib

vtkIOExport-6.2-gd.lib

vtkIOGeometry-6.2-gd.lib

vtkIOImage-6.2-gd.lib

vtkIOImport-6.2-gd.lib

vtkIOInfovis-6.2-gd.lib

vtkIOLegacy-6.2-gd.lib

vtkIOLSDyna-6.2-gd.lib

vtkIOMINC-6.2-gd.lib

vtkIOMovie-6.2-gd.lib

vtkIONetCDF-6.2-gd.lib

vtkIOParallel-6.2-gd.lib

vtkIOParallelXML-6.2-gd.lib

vtkIOPLY-6.2-gd.lib

vtkIOSQL-6.2-gd.lib

vtkIOVideo-6.2-gd.lib

vtkIOXML-6.2-gd.lib

vtkIOXMLParser-6.2-gd.lib

vtkjpeg-6.2-gd.lib

vtkjsoncpp-6.2-gd.lib

vtklibxml2-6.2-gd.lib

vtkmetaio-6.2-gd.lib

vtkNetCDF-6.2-gd.lib

vtkNetCDF_cxx-6.2-gd.lib

vtkoggtheora-6.2-gd.lib

vtkParallelCore-6.2-gd.lib

vtkpng-6.2-gd.lib

vtkproj4-6.2-gd.lib

vtkRenderingAnnotation-6.2-gd.lib

vtkRenderingContext2D-6.2-gd.lib

vtkRenderingContextOpenGL-6.2-gd.lib

vtkRenderingCore-6.2-gd.lib

vtkRenderingFreeType-6.2-gd.lib

vtkRenderingFreeTypeOpenGL-6.2-gd.lib

vtkRenderingGL2PS-6.2-gd.lib

vtkRenderingImage-6.2-gd.lib

vtkRenderingLabel-6.2-gd.lib

vtkRenderingLIC-6.2-gd.lib

vtkRenderingLOD-6.2-gd.lib

vtkRenderingOpenGL-6.2-gd.lib

vtkRenderingVolume-6.2-gd.lib

vtkRenderingVolumeOpenGL-6.2-gd.lib

vtksqlite-6.2-gd.lib

vtksys-6.2-gd.lib

vtktiff-6.2-gd.lib

vtkverdict-6.2-gd.lib

vtkViewsContext2D-6.2-gd.lib

vtkViewsCore-6.2-gd.lib

vtkViewsInfovis-6.2-gd.lib

vtkzlib-6.2-gd.lib

kernel32.lib

user32.lib

gdi32.lib

winspool.lib

comdlg32.lib

advapi32.lib

shell32.lib

ole32.lib

oleaut32.lib

uuid.lib

odbc32.lib

odbccp32.lib

vs版本是2013的可以直接复制到附加依赖项里。注意vs2012，vs2015版的依赖库不一样，不能直接复制上面的，把上面的的复制到记事本里，然后，查看pcl安装路径下boost库的lib文件夹，里面的lib名字里会带有vc***，这个是编译器版本号，例如vs2013版的pcl是上面的vc***是vc120，然后利用记事本的替换功能，把vc120，替换为上面你找到的编译器版本号vc***，再拷贝到附加依赖项里。

四：安装测试

将下面代码拷贝到vs里，点运行，出现控制台窗口后，提示未找到点云文件，这个可以不管，不报错误，即成功配置pcl。

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

int user_data;

void
viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
{
viewer.setBackgroundColor (1.0, 0.5, 1.0);
pcl::PointXYZ o;
o.x = 1.0;
o.y = 0;
o.z = 0;
viewer.addSphere (o, 0.25, "sphere", 0);
std::cout << "i only run once" << std::endl;

}

void
viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
{
static unsigned count = 0;
std::stringstream ss;
ss << "Once per viewer loop: " << count++;
viewer.removeShape ("text", 0);
viewer.addText (ss.str(), 200, 300, "text", 0);

//FIXME: possible race condition here:
user_data++;
}

int
main ()
{
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud);

pcl::visualization::CloudViewer viewer("Cloud Viewer");

//blocks until the cloud is actually rendered
viewer.showCloud(cloud);

//use the following functions to get access to the underlying more advanced/powerful
//PCLVisualizer

//This will only get called once
viewer.runOnVisualizationThreadOnce (viewerOneOff);

//This will get called once per visualization iteration
viewer.runOnVisualizationThread (viewerPsycho);
while (!viewer.wasStopped ())
{
//you can also do cool processing here
//FIXME: Note that this is running in a separate thread from viewerPsycho
//and you should guard against race conditions yourself...
user_data++;
}
return 0;
}

五：常见错误

安装常见错误解决方法

1.提示未找到pcl的头文件等，该问题是附加包含目录里库路径设置不正确导致的，修改或添加相关路径。

2.配置64位pcl出现无法解析的外部符号错误，该错误是解决方案平台未修改导致的，把win32换成x64。

3.有个别人添加了上述路径后发生，还是提示dll找不到的情况，有可能是你在path里少添加相关dll的路径了。还有一个原因是path有长度限制，超出长度的部分就不认了，这时，可以把上面所有bin文件夹下的dll拷贝到‪C:WindowsSystem32文件夹里。

参考：pcl 1.7.2简单安装教程