Windows11+VS2022+PCL1.13.0 安装配置记录

风晓 2024-01-10 19:06:41  51823 赞同 0 反对 0

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Windows11+VS2022+PCL1.13.0 安装配置记录

下载PCL AllInOne 安装包

在release页面下载和自己电脑上VS版本对应的AllInOne exe

安装 PCL

双击下载的AllInOne exe

这里选择给所有用户添加环境变量

老规矩，安装目录改到D盘。

所有依赖都装。

waiting…几分钟的样子

win11还有这玩意儿

环境变量写入失败，无所谓，等会儿自己加。

完成。

OpenNI2 安装确认

进入安装目录下的3rdParty检查OpenNI2有没有安装，一般都会安装到C盘，打开C盘的Program Files文件夹，果然，它直接安装到了C盘，并且还自动写入了环境变量。

由于强迫症的关系，决定把它重装在D盘。在该PCL安装路径下的3rdParty/OpenNI2可以看到安装包，双击打开。

remove卸载掉原有安装

卸载完成，重新双击安装，更改安装位置

很快就安装完成了。

系统环境变量配置

首先是OpenNI2的环境变量，因为在安装时已经写入了PCL_ROOT这个环境变量，所以OpenNI2环境变量可以改为如下形式

然后打开Path,添加

%PCL_ROOT%\bin

%PCL_ROOT%\3rdParty\VTK\bin

%PCL_ROOT%\3rdParty\FLANN\bin

%PCL_ROOT%\3rdParty\OpenNI2\Tools

%PCL_ROOT%\3rdParty\Qhull\bin

%OPENNI2_REDIST64%

%OPENNI2_LIB64%

%OPENNI2_INCLUDE64%

Visual Studio环境配置

创建一个新项目PCL_test，打开属性管理器，先配置x64 的Release，新建属性表，命名为 PCL1.13_Release_x64.props。

双击该属性表，开始配置

1. C/C++ – 所有选项 – SDL检查 – 设置为否

2. VC++目录 – 包含目录 – 编辑 --添加新的目录如下

D:\Program Files (x86)\PCL 1.13.0\include\pcl-1.13

D:\Program Files (x86)\PCL 1.13.0\3rdParty\Boost\include\boost-1_80

D:\Program Files (x86)\PCL 1.13.0\3rdParty\Eigen\eigen3

D:\Program Files (x86)\PCL 1.13.0\3rdParty\FLANN\include

D:\Program Files (x86)\PCL 1.13.0\3rdParty\OpenNI2\Include

D:\Program Files (x86)\PCL 1.13.0\3rdParty\Qhull\include

D:\Program Files (x86)\PCL 1.13.0\3rdParty\VTK\include\vtk-9.2

3. VC++目录 – 库目录 – 编辑 --添加新的目录如下

D:\Program Files (x86)\PCL 1.13.0\lib

D:\Program Files (x86)\PCL 1.13.0\3rdParty\Boost\lib

D:\Program Files (x86)\PCL 1.13.0\3rdParty\FLANN\lib

D:\Program Files (x86)\PCL 1.13.0\3rdParty\OpenNI2\Lib

D:\Program Files (x86)\PCL 1.13.0\3rdParty\Qhull\lib

D:\Program Files (x86)\PCL 1.13.0\3rdParty\VTK\lib

4. C/C++ – 预处理器 – 预处理器定义 – 编辑 --添加预处理器定义如下

BOOST_USE_WINDOWS_H

NOMINMAX

_CRT_SECURE_NO_DEPRECATE

5. 链接器 – 输入 – 附加依赖项 – 编辑

这里需要对PCL和VTK的lib进行提取，Release和Debug所需的lib不一样，Debug是 **d.lib 类型，Release是 *.lib 类型。之前我写了一个简单的小脚本来自动提取两种lib。（当然也可以通过手动输入或其他方式获取相应lib。）脚本代码如下

# File :Extract_lib_to_txt.py

# Auther :WooChi

# Time :2022/06/08

# Version :1.0

# Function :自动提取lib文件夹下的.lib文件，根据文件名分别导出到release_lib.txt和debug_lib.txt中

import os

def Extract_lib(path):

release = open("release_lib.txt", 'w')

debug = open("debug_lib.txt", 'w')

for file in os.listdir(path):

if file[-5:] == 'd.lib':

debug.write(file)

debug.write('\n')

elif file[-4:] == '.lib':

release.write(file)

release.write('\n')

debug.close()

release.close()

if __name__ == '__main__':

path = r"D:\Program Files (x86)\OPenCV\x64\vc16\lib"

Extract_lib(path)

先提取VTK的lib，结果如下

vtk_debug_lib.txt

vtkcgns-9.2-gd.lib

vtkChartsCore-9.2-gd.lib

vtkCommonColor-9.2-gd.lib

vtkCommonComputationalGeometry-9.2-gd.lib

vtkCommonCore-9.2-gd.lib

vtkCommonDataModel-9.2-gd.lib

vtkCommonExecutionModel-9.2-gd.lib

vtkCommonMath-9.2-gd.lib

vtkCommonMisc-9.2-gd.lib

vtkCommonSystem-9.2-gd.lib

vtkCommonTransforms-9.2-gd.lib

vtkDICOMParser-9.2-gd.lib

vtkDomainsChemistry-9.2-gd.lib

vtkDomainsChemistryOpenGL2-9.2-gd.lib

vtkdoubleconversion-9.2-gd.lib

vtkexodusII-9.2-gd.lib

vtkexpat-9.2-gd.lib

vtkFiltersAMR-9.2-gd.lib

vtkFiltersCore-9.2-gd.lib

vtkFiltersExtraction-9.2-gd.lib

vtkFiltersFlowPaths-9.2-gd.lib

vtkFiltersGeneral-9.2-gd.lib

vtkFiltersGeneric-9.2-gd.lib

vtkFiltersGeometry-9.2-gd.lib

vtkFiltersHybrid-9.2-gd.lib

vtkFiltersHyperTree-9.2-gd.lib

vtkFiltersImaging-9.2-gd.lib

vtkFiltersModeling-9.2-gd.lib

vtkFiltersParallel-9.2-gd.lib

vtkFiltersParallelImaging-9.2-gd.lib

vtkFiltersPoints-9.2-gd.lib

vtkFiltersProgrammable-9.2-gd.lib

vtkFiltersSelection-9.2-gd.lib

vtkFiltersSMP-9.2-gd.lib

vtkFiltersSources-9.2-gd.lib

vtkFiltersStatistics-9.2-gd.lib

vtkFiltersTexture-9.2-gd.lib

vtkFiltersTopology-9.2-gd.lib

vtkFiltersVerdict-9.2-gd.lib

vtkfmt-9.2-gd.lib

vtkfreetype-9.2-gd.lib

vtkGeovisCore-9.2-gd.lib

vtkgl2ps-9.2-gd.lib

vtkglew-9.2-gd.lib

vtkhdf5-9.2-gd.lib

vtkhdf5_hl-9.2-gd.lib

vtkImagingColor-9.2-gd.lib

vtkImagingCore-9.2-gd.lib

vtkImagingFourier-9.2-gd.lib

vtkImagingGeneral-9.2-gd.lib

vtkImagingHybrid-9.2-gd.lib

vtkImagingMath-9.2-gd.lib

vtkImagingMorphological-9.2-gd.lib

vtkImagingSources-9.2-gd.lib

vtkImagingStatistics-9.2-gd.lib

vtkImagingStencil-9.2-gd.lib

vtkInfovisCore-9.2-gd.lib

vtkInfovisLayout-9.2-gd.lib

vtkInteractionImage-9.2-gd.lib

vtkInteractionStyle-9.2-gd.lib

vtkInteractionWidgets-9.2-gd.lib

vtkIOAMR-9.2-gd.lib

vtkIOAsynchronous-9.2-gd.lib

vtkIOCesium3DTiles-9.2-gd.lib

vtkIOCGNSReader-9.2-gd.lib

vtkIOChemistry-9.2-gd.lib

vtkIOCityGML-9.2-gd.lib

vtkIOCONVERGECFD-9.2-gd.lib

vtkIOCore-9.2-gd.lib

vtkIOEnSight-9.2-gd.lib

vtkIOExodus-9.2-gd.lib

vtkIOExport-9.2-gd.lib

vtkIOExportGL2PS-9.2-gd.lib

vtkIOExportPDF-9.2-gd.lib

vtkIOGeometry-9.2-gd.lib

vtkIOHDF-9.2-gd.lib

vtkIOImage-9.2-gd.lib

vtkIOImport-9.2-gd.lib

vtkIOInfovis-9.2-gd.lib

vtkIOIOSS-9.2-gd.lib

vtkIOLegacy-9.2-gd.lib

vtkIOLSDyna-9.2-gd.lib

vtkIOMINC-9.2-gd.lib

vtkIOMotionFX-9.2-gd.lib

vtkIOMovie-9.2-gd.lib

vtkIONetCDF-9.2-gd.lib

vtkIOOggTheora-9.2-gd.lib

vtkIOParallel-9.2-gd.lib

vtkIOParallelXML-9.2-gd.lib

vtkIOPLY-9.2-gd.lib

vtkIOSegY-9.2-gd.lib

vtkIOSQL-9.2-gd.lib

vtkioss-9.2-gd.lib

vtkIOTecplotTable-9.2-gd.lib

vtkIOVeraOut-9.2-gd.lib

vtkIOVideo-9.2-gd.lib

vtkIOXML-9.2-gd.lib

vtkIOXMLParser-9.2-gd.lib

vtkjpeg-9.2-gd.lib

vtkjsoncpp-9.2-gd.lib

vtkkissfft-9.2-gd.lib

vtklibharu-9.2-gd.lib

vtklibproj-9.2-gd.lib

vtklibxml2-9.2-gd.lib

vtkloguru-9.2-gd.lib

vtklz4-9.2-gd.lib

vtklzma-9.2-gd.lib

vtkmetaio-9.2-gd.lib

vtknetcdf-9.2-gd.lib

vtkogg-9.2-gd.lib

vtkParallelCore-9.2-gd.lib

vtkParallelDIY-9.2-gd.lib

vtkpng-9.2-gd.lib

vtkpugixml-9.2-gd.lib

vtkRenderingAnnotation-9.2-gd.lib

vtkRenderingContext2D-9.2-gd.lib

vtkRenderingContextOpenGL2-9.2-gd.lib

vtkRenderingCore-9.2-gd.lib

vtkRenderingFreeType-9.2-gd.lib

vtkRenderingGL2PSOpenGL2-9.2-gd.lib

vtkRenderingHyperTreeGrid-9.2-gd.lib

vtkRenderingImage-9.2-gd.lib

vtkRenderingLabel-9.2-gd.lib

vtkRenderingLICOpenGL2-9.2-gd.lib

vtkRenderingLOD-9.2-gd.lib

vtkRenderingOpenGL2-9.2-gd.lib

vtkRenderingSceneGraph-9.2-gd.lib

vtkRenderingUI-9.2-gd.lib

vtkRenderingVolume-9.2-gd.lib

vtkRenderingVolumeOpenGL2-9.2-gd.lib

vtkRenderingVtkJS-9.2-gd.lib

vtksqlite-9.2-gd.lib

vtksys-9.2-gd.lib

vtkTestingRendering-9.2-gd.lib

vtktheora-9.2-gd.lib

vtktiff-9.2-gd.lib

vtkverdict-9.2-gd.lib

vtkViewsContext2D-9.2-gd.lib

vtkViewsCore-9.2-gd.lib

vtkViewsInfovis-9.2-gd.lib

vtkWrappingTools-9.2-gd.lib

vtkzlib-9.2-gd.lib

vtk_release_lib.txt

vtkcgns-9.2.lib

vtkChartsCore-9.2.lib

vtkCommonColor-9.2.lib

vtkCommonComputationalGeometry-9.2.lib

vtkCommonCore-9.2.lib

vtkCommonDataModel-9.2.lib

vtkCommonExecutionModel-9.2.lib

vtkCommonMath-9.2.lib

vtkCommonMisc-9.2.lib

vtkCommonSystem-9.2.lib

vtkCommonTransforms-9.2.lib

vtkDICOMParser-9.2.lib

vtkDomainsChemistry-9.2.lib

vtkDomainsChemistryOpenGL2-9.2.lib

vtkdoubleconversion-9.2.lib

vtkexodusII-9.2.lib

vtkexpat-9.2.lib

vtkFiltersAMR-9.2.lib

vtkFiltersCore-9.2.lib

vtkFiltersExtraction-9.2.lib

vtkFiltersFlowPaths-9.2.lib

vtkFiltersGeneral-9.2.lib

vtkFiltersGeneric-9.2.lib

vtkFiltersGeometry-9.2.lib

vtkFiltersHybrid-9.2.lib

vtkFiltersHyperTree-9.2.lib

vtkFiltersImaging-9.2.lib

vtkFiltersModeling-9.2.lib

vtkFiltersParallel-9.2.lib

vtkFiltersParallelImaging-9.2.lib

vtkFiltersPoints-9.2.lib

vtkFiltersProgrammable-9.2.lib

vtkFiltersSelection-9.2.lib

vtkFiltersSMP-9.2.lib

vtkFiltersSources-9.2.lib

vtkFiltersStatistics-9.2.lib

vtkFiltersTexture-9.2.lib

vtkFiltersTopology-9.2.lib

vtkFiltersVerdict-9.2.lib

vtkfmt-9.2.lib

vtkfreetype-9.2.lib

vtkGeovisCore-9.2.lib

vtkgl2ps-9.2.lib

vtkglew-9.2.lib

vtkhdf5-9.2.lib

vtkhdf5_hl-9.2.lib

vtkImagingColor-9.2.lib

vtkImagingCore-9.2.lib

vtkImagingFourier-9.2.lib

vtkImagingGeneral-9.2.lib

vtkImagingHybrid-9.2.lib

vtkImagingMath-9.2.lib

vtkImagingMorphological-9.2.lib

vtkImagingSources-9.2.lib

vtkImagingStatistics-9.2.lib

vtkImagingStencil-9.2.lib

vtkInfovisCore-9.2.lib

vtkInfovisLayout-9.2.lib

vtkInteractionImage-9.2.lib

vtkInteractionStyle-9.2.lib

vtkInteractionWidgets-9.2.lib

vtkIOAMR-9.2.lib

vtkIOAsynchronous-9.2.lib

vtkIOCesium3DTiles-9.2.lib

vtkIOCGNSReader-9.2.lib

vtkIOChemistry-9.2.lib

vtkIOCityGML-9.2.lib

vtkIOCONVERGECFD-9.2.lib

vtkIOCore-9.2.lib

vtkIOEnSight-9.2.lib

vtkIOExodus-9.2.lib

vtkIOExport-9.2.lib

vtkIOExportGL2PS-9.2.lib

vtkIOExportPDF-9.2.lib

vtkIOGeometry-9.2.lib

vtkIOHDF-9.2.lib

vtkIOImage-9.2.lib

vtkIOImport-9.2.lib

vtkIOInfovis-9.2.lib

vtkIOIOSS-9.2.lib

vtkIOLegacy-9.2.lib

vtkIOLSDyna-9.2.lib

vtkIOMINC-9.2.lib

vtkIOMotionFX-9.2.lib

vtkIOMovie-9.2.lib

vtkIONetCDF-9.2.lib

vtkIOOggTheora-9.2.lib

vtkIOParallel-9.2.lib

vtkIOParallelXML-9.2.lib

vtkIOPLY-9.2.lib

vtkIOSegY-9.2.lib

vtkIOSQL-9.2.lib

vtkioss-9.2.lib

vtkIOTecplotTable-9.2.lib

vtkIOVeraOut-9.2.lib

vtkIOVideo-9.2.lib

vtkIOXML-9.2.lib

vtkIOXMLParser-9.2.lib

vtkjpeg-9.2.lib

vtkjsoncpp-9.2.lib

vtkkissfft-9.2.lib

vtklibharu-9.2.lib

vtklibproj-9.2.lib

vtklibxml2-9.2.lib

vtkloguru-9.2.lib

vtklz4-9.2.lib

vtklzma-9.2.lib

vtkmetaio-9.2.lib

vtknetcdf-9.2.lib

vtkogg-9.2.lib

vtkParallelCore-9.2.lib

vtkParallelDIY-9.2.lib

vtkpng-9.2.lib

vtkpugixml-9.2.lib

vtkRenderingAnnotation-9.2.lib

vtkRenderingContext2D-9.2.lib

vtkRenderingContextOpenGL2-9.2.lib

vtkRenderingCore-9.2.lib

vtkRenderingFreeType-9.2.lib

vtkRenderingGL2PSOpenGL2-9.2.lib

vtkRenderingHyperTreeGrid-9.2.lib

vtkRenderingImage-9.2.lib

vtkRenderingLabel-9.2.lib

vtkRenderingLICOpenGL2-9.2.lib

vtkRenderingLOD-9.2.lib

vtkRenderingOpenGL2-9.2.lib

vtkRenderingSceneGraph-9.2.lib

vtkRenderingUI-9.2.lib

vtkRenderingVolume-9.2.lib

vtkRenderingVolumeOpenGL2-9.2.lib

vtkRenderingVtkJS-9.2.lib

vtksqlite-9.2.lib

vtksys-9.2.lib

vtkTestingRendering-9.2.lib

vtktheora-9.2.lib

vtktiff-9.2.lib

vtkverdict-9.2.lib

vtkViewsContext2D-9.2.lib

vtkViewsCore-9.2.lib

vtkViewsInfovis-9.2.lib

vtkWrappingTools-9.2.lib

vtkzlib-9.2.lib

再提取PCL的lib，结果如下

pcl_debug_lib.txt

pcl_commond.lib

pcl_featuresd.lib

pcl_filtersd.lib

pcl_iod.lib

pcl_io_plyd.lib

pcl_kdtreed.lib

pcl_keypointsd.lib

pcl_mld.lib

pcl_octreed.lib

pcl_outofcored.lib

pcl_peopled.lib

pcl_recognitiond.lib

pcl_registrationd.lib

pcl_sample_consensusd.lib

pcl_searchd.lib

pcl_segmentationd.lib

pcl_stereod.lib

pcl_surfaced.lib

pcl_trackingd.lib

pcl_visualizationd.lib

pcl_release_lib.txt

pcl_common.lib

pcl_features.lib

pcl_filters.lib

pcl_io.lib

pcl_io_ply.lib

pcl_kdtree.lib

pcl_keypoints.lib

pcl_ml.lib

pcl_octree.lib

pcl_outofcore.lib

pcl_people.lib

pcl_recognition.lib

pcl_registration.lib

pcl_sample_consensus.lib

pcl_search.lib

pcl_segmentation.lib

pcl_stereo.lib

pcl_surface.lib

pcl_tracking.lib

pcl_visualization.lib

现在在附加依赖项里输入Release版的lib(Debug版属性表主要在这一步不一样，可以通过复制Release版属性表的方式添加现有属性表修改或者新建属性表重新配置，我就不再啰嗦了)

6. C/C++ – 代码生成 – 启用增强指令集 – 选择高级矢量扩展

这一步与Eigen库相关，不加上的话程序在使用Eigen库时可能出现中断。

点击右下角应用，确定保存属性表

然后，还有重要的一步，亲测如果没有这一步，会出现找不到 pcl_***.dll 的报错信息

7. 项目–属性–调试–环境–编辑—添加环境如下

PATH=$(PCL_ROOT)\bin;$(PCL_ROOT)\3rdParty\FLANN\bin;$(PCL_ROOT)\3rdParty\VTK\bin;$(PCL_ROOT)\3rdParty\Qhull\bin;$(PCL_ROOT)\3rdParty\OpenNI2\Tools;$(PATH)

小伙伴说找不到环境位置，补了一个图在这儿。

接下来可以开始测试了。

PCL 测试

随便找一份测试代码

#include <iostream>

#include <pcl/common/common_headers.h>

#include <pcl/io/pcd_io.h>

#include <pcl/visualization/pcl_visualizer.h>

#include <pcl/visualization/cloud_viewer.h>

#include <pcl/console/parse.h>

int main(int argc, char **argv) {

std::cout << "Test PCL !!!" << std::endl;

pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);

uint8_t r(255), g(15), b(15);

for (float z(-1.0); z <= 1.0; z += 0.05)

{

for (float angle(0.0); angle <= 360.0; angle += 5.0)

{

pcl::PointXYZRGB point;

point.x = 0.5 * cosf (pcl::deg2rad(angle));

point.y = sinf (pcl::deg2rad(angle));

point.z = z;

uint32_t rgb = (static_cast<uint32_t>(r) << 16 |

static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));

point.rgb = *reinterpret_cast<float*>(&rgb);

point_cloud_ptr->points.push_back (point);

}

if (z < 0.0)

{

r -= 12;

g += 12;

}

else

{

g -= 12;

b += 12;

}

point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();

point_cloud_ptr->height = 1;

pcl::visualization::CloudViewer viewer ("test");

viewer.showCloud(point_cloud_ptr);

while (!viewer.wasStopped()){ };

return 0;

}

执行成功

打完收工。

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Windows11+VS2022+PCL1.13.0 安装配置记录

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