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Qt5.9.6+VS2015 部署PCL1.8.1

news 来源：原创 2024/5/9 21:18:08

本文系转载，如侵权请告知删除。原博文链接：https://blog.csdn.net/jepco1/article/details/80752954

0 编译环境

所需软件包及其版本
Qt5.9.6 msvc2015_64
VS2015
VTK 8.0.0 https://gitlab.kitware.com/vtk/vtk/tree/v8.0.0
PCL1.8.1 https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.8.1
PCL-1.8.1-AllInOne-msvc2015-win64
cmake3.11.3 https://cmake.org/download/

1 前期准备

下载上述软件。
安装vs2015。
安装Qt5.9.6。
在VS2015扩展和更新中安装 Qt Visual Studio Tools。

2 在VS中安装PCL 1.8.1

PCL1.8.1下载.jpg
需要下载AllinOne和pdb两个包，我选择的是2015-win64版本。

自动在环境变量中添加PCL路径

PCL安装路径，网上说路径不能有空格。

将OpenNI2安装到PCL1.8.1\3rdParty\OpenNI2\目录，这是为了便于管理，可以选择自己喜欢的目录。修改也很方便，OpenNI2可以单独卸载安装。安装包就在PCL1.8.1\3rdParty\OpenNI2\目录。

2.2 编译tutorials

tutorials的路径在C:\PCL1.8.1\share\doc\pcl-1.8\tutorials\sources下。

所以首先用cmake进行配置，配置完成后，DAVID和PKG都提示找不到，如果不用就不管。我用到了RSSDK，所以加上了。

选择Generate，我选择的是Visual Studio 14 2015 Win64。

选择open project后，vs2015就会打开工程。直接生成，结束后会有一些错误，比如：
无法打开源文件 “pcl/io/openni_grabber.h”

2.3 运行PCL VS2015 demo

将pcl_visualizer_demo设为启动项。

设置命行参数为-c，

启动后看到如图效果。说明PCL库+VS已经OK。

3 在Qt中安装PCL 1.8.1

在Qt中安装PCL1.8.1必须先做到本文第2部分。
PCL1.8.1中集成了VTK8.0.0，但是和VTK官网的8.0.0在个别文件上有差异，这就导致了在QT工程中集成PCL会出一些问题，比如找不到函数，debug和release版本冲突等问题。一些常用的解决办法，如
#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkInteractionStyle);
并不能解决这些问题，所以解决思路是用VTK官方提供的8.0.0替换掉PCL_AllinOne中的VTK。

3.1 下载并编译VTK8.0.0

点击下载已经编译好的VTK8.0.0库，可跳过3.1。https://download.csdn.net/download/jepco1/10489293
具体方法参考博客中另一篇帖子VTK8.1.1的编译方法。
同样需要编译debug和release版本。
编译的结果被放在install目录和build目录。

build目录在这里被指定。

install目录在这里被指定。

3.2 安装及配置

生成的编译结果和路径如表
include VTK_INSTALLL\include
lib VTK_build\lib
dll VTK_build\bin
plugin VTK_build\bin\Release\QVTKWidgetPlugin.dll
lib和dll都是区分debug和release的。
替换bin
将VTK_build\bin的debug和release文件夹复制到C:\PCL1.8.1\3rdParty\VTK\bin

替换lib
将VTK_build\lib的debug和release复制到C:\PCL1.8.1\3rdParty\VTK\lib

替换include
删除C:\PCL1.8.1\3rdParty\VTK\include目录的文件。
将VTK_Install\include目录的内容复制到C:\PCL1.8.1\3rdParty\VTK\include

安装plugin
VTK_build\bin\Release\QVTKWidgetPlugin.dll文件复制到qt的插件目录

3.3 设置环境变量

PCL自动添加的环境变量不一定正确完整，建议检查一下。

PCL_ROOT存在且位置正确。

4个bin文件存在，且位置正确。
注意：这里要将VTK\bin路径删除。因为PCL中的VTK dll没有区分release和debug版本。需要通过编译器的环境配置，通过路径区分版本，这里如果包含了VTK\bin路径就会形成干扰。

4 编译qt_visualizer

4.1 打开qt_visualizer

位于C:\PCL1.8.1\share\doc\pcl-1.8\tutorials\sources\qt_visualizer

4.2 配置环境变量（dll路径）

debug
PATH= $KaTeX parse error: Undefined control sequence: \bin at position 8: (QTDIR)\̲b̲i̲n̲$ (PATH) $KaTeX parse error: Undefined control sequence: \3 at position 11: (PCL_ROOT)\̲3̲rdParty\VTK\bin…$ (QTDIR)\bin $(P A T H)$ (PCL_ROOT)\3rdParty\VTK\bin\release

4.3 配置include（.h路径）

debug|release
.\GeneratedFiles$(ConfigurationName);
.\GeneratedFiles;
$(QTDIR)\include;
$(QTDIR)\include\QtWidgets;
$(QTDIR)\include\QtGui;
$(QTDIR)\include\QtANGLE;
$(QTDIR)\include\QtCore;
debug;
$(QTDIR)\mkspecs\win32-msvc;
$(PCL_ROOT)\include\pcl-1.8;
$(PCL_ROOT)\include\pcl-1.8\pcl;
$(PCL_ROOT)\3rdParty\Boost\include\boost-1_64;
$(PCL_ROOT)\3rdParty\Eigen\eigen3;
$(PCL_ROOT)\3rdParty\FLANN\include;
$(PCL_ROOT)\3rdParty\OpenNI2\Include\Win32;
$(PCL_ROOT)\3rdParty\Qhull\include;
$(PCL_ROOT)\3rdParty\VTK\include\vtk-8.0;
%(AdditionalIncludeDirectories)

4.4 配置lib路径

debug
$(QTDIR)\lib;
$(PCL_ROOT)\lib;
$(PCL_ROOT)\3rdParty\FLANN\lib;
$(PCL_ROOT)\3rdParty\Boost\lib;
$(PCL_ROOT)\3rdParty\Qhull\lib;
$(PCL_ROOT)\3rdParty\VTK\lib\debug;
$(PCL_ROOT)\3rdParty\OpenNI2\Lib;
%(AdditionalLibraryDirectories)
release
$(QTDIR)\lib;
$(PCL_ROOT)\lib;
$(PCL_ROOT)\3rdParty\FLANN\lib;
$(PCL_ROOT)\3rdParty\Boost\lib;
$(PCL_ROOT)\3rdParty\Qhull\lib;
$(PCL_ROOT)\3rdParty\VTK\lib\release;
$(PCL_ROOT)\3rdParty\OpenNI2\Lib;
%(AdditionalLibraryDirectories)

4.5 配置lib文件

debug
qtmaind.lib
shell32.lib
Qt5Widgetsd.lib
Qt5Guid.lib
Qt5Cored.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-vc140-mt-gd-1_64.lib
libboost_bzip2-vc140-mt-gd-1_64.lib
libboost_chrono-vc140-mt-gd-1_64.lib
libboost_container-vc140-mt-gd-1_64.lib
libboost_context-vc140-mt-gd-1_64.lib
libboost_coroutine-vc140-mt-gd-1_64.lib
libboost_date_time-vc140-mt-gd-1_64.lib
libboost_exception-vc140-mt-gd-1_64.lib
libboost_fiber-vc140-mt-gd-1_64.lib
libboost_filesystem-vc140-mt-gd-1_64.lib
libboost_graph-vc140-mt-gd-1_64.lib
libboost_graph_parallel-vc140-mt-gd-1_64.lib
libboost_iostreams-vc140-mt-gd-1_64.lib
libboost_locale-vc140-mt-gd-1_64.lib
libboost_log-vc140-mt-gd-1_64.lib
libboost_log_setup-vc140-mt-gd-1_64.lib
libboost_math_c99-vc140-mt-gd-1_64.lib
libboost_math_c99f-vc140-mt-gd-1_64.lib
libboost_math_c99l-vc140-mt-gd-1_64.lib
libboost_math_tr1-vc140-mt-gd-1_64.lib
libboost_math_tr1f-vc140-mt-gd-1_64.lib
libboost_math_tr1l-vc140-mt-gd-1_64.lib
libboost_mpi-vc140-mt-gd-1_64.lib
libboost_numpy3-vc140-mt-gd-1_64.lib
libboost_numpy-vc140-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc140-mt-gd-1_64.lib
libboost_program_options-vc140-mt-gd-1_64.lib
libboost_python3-vc140-mt-gd-1_64.lib
libboost_python-vc140-mt-gd-1_64.lib
libboost_random-vc140-mt-gd-1_64.lib
libboost_regex-vc140-mt-gd-1_64.lib
libboost_serialization-vc140-mt-gd-1_64.lib
libboost_signals-vc140-mt-gd-1_64.lib
libboost_system-vc140-mt-gd-1_64.lib
libboost_test_exec_monitor-vc140-mt-gd-1_64.lib
libboost_thread-vc140-mt-gd-1_64.lib
libboost_timer-vc140-mt-gd-1_64.lib
libboost_type_erasure-vc140-mt-gd-1_64.lib
libboost_unit_test_framework-vc140-mt-gd-1_64.lib
libboost_wave-vc140-mt-gd-1_64.lib
libboost_wserialization-vc140-mt-gd-1_64.lib
libboost_zlib-vc140-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
vtkGUISupportQt-8.0.lib
vtkRenderingOpenGL2-8.0.lib
vtkglew-8.0.lib
vtkInteractionImage-8.0.lib
vtkInteractionWidgets-8.0.lib
vtkFiltersHybrid-8.0.lib
vtkFiltersModeling-8.0.lib
vtkImagingGeneral-8.0.lib
vtkImagingHybrid-8.0.lib
vtkRenderingAnnotation-8.0.lib
vtkRenderingFreeType-8.0.lib
vtkfreetype-8.0.lib
vtkRenderingVolume-8.0.lib
vtkIOXML-8.0.lib
vtkIOXMLParser-8.0.lib
vtkexpat-8.0.lib
vtkInteractionStyle-8.0.lib
vtkFiltersExtraction-8.0.lib
vtkFiltersStatistics-8.0.lib
vtkImagingFourier-8.0.lib
vtkalglib-8.0.lib
vtkImagingSources-8.0.lib
vtkIOImage-8.0.lib
vtkDICOMParser-8.0.lib
vtkmetaio-8.0.lib
vtkpng-8.0.lib
vtktiff-8.0.lib
vtkjpeg-8.0.lib
vtkImagingColor-8.0.lib
vtkImagingCore-8.0.lib
vtkRenderingCore-8.0.lib
vtkFiltersSources-8.0.lib
vtkFiltersGeneral-8.0.lib
vtkCommonComputationalGeometry-8.0.lib
vtkCommonColor-8.0.lib
vtkFiltersGeometry-8.0.lib
vtkFiltersCore-8.0.lib
vtkIOCore-8.0.lib
vtkCommonExecutionModel-8.0.lib
vtkCommonDataModel-8.0.lib
vtkCommonTransforms-8.0.lib
vtkCommonMisc-8.0.lib
vtkCommonMath-8.0.lib
vtkCommonSystem-8.0.lib
vtkCommonCore-8.0.lib
vtksys-8.0.lib
release
qtmain.lib
shell32.lib
Qt5Widgets.lib
Qt5Gui.lib
Qt5Core.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-vc140-mt-1_64.lib
libboost_bzip2-vc140-mt-1_64.lib
libboost_chrono-vc140-mt-1_64.lib
libboost_container-vc140-mt-1_64.lib
libboost_context-vc140-mt-1_64.lib
libboost_coroutine-vc140-mt-1_64.lib
libboost_date_time-vc140-mt-1_64.lib
libboost_exception-vc140-mt-1_64.lib
libboost_fiber-vc140-mt-1_64.lib
libboost_filesystem-vc140-mt-1_64.lib
libboost_graph-vc140-mt-1_64.lib
libboost_graph_parallel-vc140-mt-1_64.lib
libboost_iostreams-vc140-mt-1_64.lib
libboost_locale-vc140-mt-1_64.lib
libboost_log-vc140-mt-1_64.lib
libboost_log_setup-vc140-mt-1_64.lib
libboost_math_c99-vc140-mt-1_64.lib
libboost_math_c99f-vc140-mt-1_64.lib
libboost_math_c99l-vc140-mt-1_64.lib
libboost_math_tr1-vc140-mt-1_64.lib
libboost_math_tr1f-vc140-mt-1_64.lib
libboost_math_tr1l-vc140-mt-1_64.lib
libboost_mpi-vc140-mt-1_64.lib
libboost_numpy3-vc140-mt-1_64.lib
libboost_numpy-vc140-mt-1_64.lib
libboost_prg_exec_monitor-vc140-mt-1_64.lib
libboost_program_options-vc140-mt-1_64.lib
libboost_python3-vc140-mt-1_64.lib
libboost_python-vc140-mt-1_64.lib
libboost_random-vc140-mt-1_64.lib
libboost_regex-vc140-mt-1_64.lib
libboost_serialization-vc140-mt-1_64.lib
libboost_signals-vc140-mt-1_64.lib
libboost_system-vc140-mt-1_64.lib
libboost_test_exec_monitor-vc140-mt-1_64.lib
libboost_thread-vc140-mt-1_64.lib
libboost_timer-vc140-mt-1_64.lib
libboost_type_erasure-vc140-mt-1_64.lib
libboost_unit_test_framework-vc140-mt-1_64.lib
libboost_wave-vc140-mt-1_64.lib
libboost_wserialization-vc140-mt-1_64.lib
libboost_zlib-vc140-mt-1_64.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_s.lib
qhull_d.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_r_d.lib
qhull_p_d.lib
qhull_r_d.lib
vtkGUISupportQt-8.0.lib
vtkRenderingOpenGL2-8.0.lib
vtkglew-8.0.lib
vtkInteractionImage-8.0.lib
vtkInteractionWidgets-8.0.lib
vtkFiltersHybrid-8.0.lib
vtkFiltersModeling-8.0.lib
vtkImagingGeneral-8.0.lib
vtkImagingHybrid-8.0.lib
vtkRenderingAnnotation-8.0.lib
vtkRenderingFreeType-8.0.lib
vtkfreetype-8.0.lib
vtkRenderingVolume-8.0.lib
vtkIOXML-8.0.lib
vtkIOXMLParser-8.0.lib
vtkexpat-8.0.lib
vtkInteractionStyle-8.0.lib
vtkFiltersExtraction-8.0.lib
vtkFiltersStatistics-8.0.lib
vtkImagingFourier-8.0.lib
vtkalglib-8.0.lib
vtkImagingSources-8.0.lib
vtkIOImage-8.0.lib
vtkDICOMParser-8.0.lib
vtkmetaio-8.0.lib
vtkpng-8.0.lib
vtktiff-8.0.lib
vtkjpeg-8.0.lib
vtkImagingColor-8.0.lib
vtkImagingCore-8.0.lib
vtkRenderingCore-8.0.lib
vtkFiltersSources-8.0.lib
vtkFiltersGeneral-8.0.lib
vtkCommonComputationalGeometry-8.0.lib
vtkCommonColor-8.0.lib
vtkFiltersGeometry-8.0.lib
vtkFiltersCore-8.0.lib
vtkIOCore-8.0.lib
vtkCommonExecutionModel-8.0.lib
vtkCommonDataModel-8.0.lib
vtkCommonTransforms-8.0.lib
vtkCommonMisc-8.0.lib
vtkCommonMath-8.0.lib
vtkCommonSystem-8.0.lib
vtkCommonCore-8.0.lib
vtksys-8.0.lib