Windows10下PCL1.8.1以及Python-pcl1.81環境配置的掉發之路

       因需要對三維激光點雲進行處理，看到有C++下的PCL點雲庫，和Python下的Python-pcl（脫胎於C++下的PCL），在C++和Python面前，我選擇了跟風學習Python，畢竟人生苦短！然后前前后后折騰了很長時間，直至前兩天終於碰到死耗子，成功搭建了Windows系統Python下的Python-pcl，所以不得不多哆嗦幾句。一開始就選擇在Windows下  進行部署，然后安裝卸載報錯無法解決中循環，然后看到很多博主推薦Linux系統，又想起曾經年少按照過雙系統Ubuntu18.04，所以又去我陌生的Ubuntu下倒騰了兩三天，果然還是別人Linux強，自己的一點也不爭氣，最后還是選擇了我可愛的Windows......以下內容僅供個人記錄，很多東西我至今也是懵的，不敢說能使用到投錯醫的你的身上。

1.環境簡介

        Win10 64位，VS2017，Python3.68，PCL1.8.1，Python-pcl，即github測試環境之一，配置Python-pcl需要提前配置PCL如下圖（沒有配好PCL前，一直沒有搞好Python-pcl）。之前瞎搞沒有注意，導致應該走了很多彎路，至今已不能一一列舉。

 

 

 

 

2.安裝配置PCL1.81

2.1下載PCL1.8.1

        前往github PCL1.81，下載PCL-1.8.1-AllInOne-msvc2017-win64.exe，pcl-1.8.1-pdb-msvc2017-win64.zip，如下圖：

 

2.2安裝並配置PCL1.8.1

【2.2.1】安裝

       啟動安裝程序PCL-1.8.1-AllInOne-msvc2017-win64.exe，並記得勾選Add PCL to the system PATH for all users，理論上會幫你配置環境變量，不幸的是，我電腦上並沒有幫我配置好，最后報了一個什么太長而沒有配置成果的錯誤。

 

 【2.2.2】解壓替換

       把下載的pcl-1.8.1-pdb-msvc2017-win64.zip壓縮包解壓，將里面的pbd文件復制在 X:\PCL\PCL 1.8.1\bin下（安裝目錄下的bin目錄），沒錯是全部。

【2.2.3】環境變量配置

 

       當然如果前面勾選了Add PCL to the system PATH for all users，安裝包會自動幫你配置環境變量，因為我之前試着在64位上安裝32位的版本（紅框內為64位），所以會有兩個版本的，打碼是因為大家都在打碼......

       變量：

 

       環境變量：

 

 

 

 

 

 

       如果沒有的話，需要手動配置（不建議），右擊我的電腦-->屬性-->高級系統設置-->環境變量-->下面的系統變量中的PATH中添加以下路徑：

X:\PCL\PCL 1.8.1\bin;

X:\PCL\PCL 1.8.1\3rdParty\VTK\bin;

X:\PCL\PCL 1.8.1\3rdParty\FLANN\bin;

X:\PCL\PCL 1.8.1\3rdParty\Qhull\bin;

X:\PCL\PCL 1.8.1\3rdParty\OpenNI2\Tools;

　　

 2.3VS2017中配置

【2.3.1】新建一個空項目，選擇Debug-x64 

【2.3.2】配置目錄及依賴

       在解決方案資源管理器中，右鍵選擇屬性，在最上面的配置中選擇Debug-x64 ，在VC++目錄的包含目錄和庫目錄里分別添加以下對應項。

 

 

        包含目錄：

X:\PCL\PCL 1.8.1\3rdParty\OpenNI2\Include
X:\PCL\PCL 1.8.1\include\pcl-1.8
X:\PCL\PCL 1.8.1\3rdParty\VTK\include\vtk-8.0
X:\PCL\PCL 1.8.1\3rdParty\Qhull\include
X:\PCL\PCL 1.8.1\3rdParty\FLANN\include
X:\PCL\PCL 1.8.1\3rdParty\Eigen\eigen3
X:\PCL\PCL 1.8.1\3rdParty\Boost\include\boost-1_64

       庫目錄：

X:\PCL\PCL 1.8.1\3rdParty\OpenNI2\Lib
X:\PCL\PCL 1.8.1\3rdParty\VTK\lib
X:\PCL\PCL 1.8.1\3rdParty\Qhull\lib
X:\PCL\PCL 1.8.1\3rdParty\FLANN\lib
X:\PCL\PCL 1.8.1\3rdParty\Boost\lib
X:\PCL\PCL 1.8.1\lib

       在鏈接器-->輸入-->附加依賴項中添加以下lib文件

 

 

        附加依賴項

       Debug版本（我也是復制的，不敢改）：

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_r.lease.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;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;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;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;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;flann.lib;flann_cpp.lib;flann_cpp_s.lib;flann_s.lib;

　　

2.4測試

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

VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);
VTK_MODULE_INIT(vtkRenderingOpenGL);

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);
    user_data++;
}
int main()
{
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile("rabbit.pcd", *cloud);//注意替換自己的pcd點雲數據
    pcl::visualization::CloudViewer viewer("Cloud Viewer");
    viewer.showCloud(cloud);
    viewer.runOnVisualizationThreadOnce(viewerOneoff);
    viewer.runOnVisualizationThread(viewerPsycho);
    while (!viewer.wasStopped())
    {
        user_data++;
    }
    return 0;
}

結果如下：

 

沒錯，可能會出問題：

問題1：簡稱warning STL4019:The member std::fpos::seekpos() is non-Standard

C4996 'std::fpos<_Mbstatet>::seekpos': warning STL4019: The member std::fpos::seekpos() is non-Standard, and is preserved only for compatibility with workarounds for old versions of Visual C++. It will be removed in a future release, and in this release always returns 0. Please use standards-conforming mechanisms to manipulate fpos, such as conversions to and from streamoff, or an integral type, instead. If you are receiving this message while compiling Boost.IOStreams, a fix has been submitted upstream to make Boost use standards-conforming mechanisms, as it does for other compilers. You can define _SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING to acknowledge that you have received this warning, or define _REMOVE_FPOS_SEEKPOS to remove std::fpos::seekpos entirely.

 解決方案：右擊項目，屬性 --> C/C++ 常規 --> SDL檢查 改為否，如下圖：

 

 

問題2：pcl_common_debug.dll等dll缺失

解決辦法：啟動Everything搜索大法，發現包好好的在那兒待着，然后我也不明白為什么程序找不到它們，然后網友們提到了環境變量問題，通過cmd將path打印出來發現該有的都有（安裝PCL1.8.1時自動配置的，因為當時報錯好像沒有完全配置成功），迫於無奈，還是將對應缺失的dll路徑重新添加到了系統環境變量中，置於自動添加系統變量之上。紅框內為根據缺dll后續添加的系統路徑，綠框內為安裝自動生成的（應該哪里有問題）。

 

 

 

 

 

 3.Python-pcl下載與配置

3.1Python-pcl下載

        github下載Python-pcl，以ZIP形式下載到本地並解壓。

3.2Windows Gtk+下載

       下載Windows Gtk+並解壓，將bin目錄下的文件拷貝到上一個步驟解壓的python-pcl-master文件夾下的pkg-config文件夾中。注意:據說 GTK+ 3.x版本跟Python2.7不兼容,此處不待考究下載了gtk+-bundle_3.6.4-20130513_win64.zip，電腦位數永遠要注意。

3.3安裝必需模塊

       因為很多電腦都會有多個版本的Python，使用pip時應該注意，此處保險起見使用pip3

pip3 install --upgrade pip
pip3 install cython==0.25.2
pip3 install numpy

       題外話，運行第一步pip3 install --upgrade pip就出現了問題：更新pip時，好像把pip刪了又提示沒有權限寫入新的pip（具體錯誤提示記不清了），然后連pip命令都無法使用了。

       解決辦法：先后執行如下命令

python -m ensurepip
python -m pip install --upgrade pip

3.4編譯？

       cmd進入解壓后的python-pcl-master目錄（目錄包含setup.py）

python setup.py build_ext -i
python setup.py install

       然后我就成功了......

3.5測試案例

import pcl
import pcl.pcl_visualization
fileName='H:/Workspace/data/rabbit.pcd';#注意更換自己的pcd點雲文件
cloud=pcl.load_XYZRGB(fileName)
visual = pcl.pcl_visualization.CloudViewing()

print(cloud[1])
visual.ShowColorCloud(cloud, b'cloud')
v = True
while v:
    v = not (visual.WasStopped())

結果如下：

參考博客：

https://blog.csdn.net/lhm_19960601/article/details/81196640
http://www.pclcn.org/bbs/forum.php?mod=viewthread&tid=170&extra=&page=1
https://blog.csdn.net/lizhengze1117/article/details/86567587
https://blog.csdn.net/stereohomology/article/details/37729289
https://blog.csdn.net/wwangfabei1989/article/details/80107147

結束語：

從最開始的啥都不知道，到不斷的試錯，不斷嘗試，直至碰巧配置成功，其間種種啥也不想說........