Compile PCL

Unpack the PCL source on your hard drive. Create a build_x64/build_x86 folder and execute CMake with this folders. After each step, you must start the CMake configuration, otherwise the new entries will not be added.

  • Set EIGEN_INCLUDE_DIR to ${MAINDIR}/3rdPartyPCL/Eigen3.3.7

  • Set FLANN_INCLUDE_DIR to ${MAINDIR}/3rdPartyPCL/flann1.9.1/include

  • Set FLANN_LIBRARY to ${MAINDIR}/3rdPartyPCL/flann1.9.1/lib/flann_cpp_s.lib

  • set FLANN_LIBRARAY_DEBUG to ${MAINDIR}/3rdPartyPCL/flann1.9.1/lib/flann_cpp_s-gd.lib

  • Set Boost_INCLUDE_DIR to ${MAINDIR}/3rdPartyPCL/boost1.69.0 (Boost library must be named libboost… *.lib)

  • Add new entry: Boost_LIBRARY_DIR with path ${MAINDIR}/3rdPartyPCL/boost1.69.0/lib64-msvc-14.0

  • Set QHULL_INCLUDE_DIR include dir to ${MAINDIR}/3rdPartyPCL/qhull-2015.2/include

  • Set QHULL_LIBRARY dir to ${MAINDIR}/3rdPartyPCL/qhull-2015.2/lib/qhullstatic.lib

  • Set QHULL_LIBRARY_DEBURG dir to ${MAINDIR}/3rdPartyPCL/qhull-2015.2/lib/qhullstatic_d.lib

  • Set VTK_DIR to ${MAINDIR}/3rdPartyPCL/vtk8.2.0/lib/cmake/vtk-8.0

  • Add new entry: QVTK_LIBRARY_DEBUG with FILEPATH ${MAINDIR}/3rdPartyPCL/vtk8.2.0/lib/vtkGUISupportQtOpenGL-8.2-gd.lib

  • Add new entry: QVTK_LIBRARY_RELEASE with FILEPATH ${MAINDIR}/3rdPartyPCL/vtk8.2.0/lib/vtkGUISupportQtOpenGL-8.2.lib

  • Set Qt5Concurrent_DIR to ${MAINDIR}/3rdParty/Qt5.12.1/5.12/msvc2017_64/lib/cmake/Qt5Concurrent

  • Set Qt5OpenGl_DIR to ${MAINDIR}/3rdParty/Qt5.12.1/5.12/msvc2017_64/lib/cmake/Qt5OpenGl_DIR

  • Set Qt5Widgets_DIR to ${MAINDIR}/3rdParty/Qt5.12.1/5.12/msvc2017_64/lib/cmake/Qt5Widgets_DIR

  • check BUILD_surface_on_nurbs and BUILD_visualization

  • uncheck BUILD_global_tests, BUILD_examples, BUILD_apps, BUILD_simulation

  • Set CMAKE_INSTALL_PREFIX ${MAINDIR}/3rdPartyPCL/pcl1.9.1


The created exe-files are not needed to run itom. Delete all exe-files in the ${MAINDIR}/3rdPartyPCL/pcl1.9.1/bin folder.


PCL version 1.8.0 causes a compilation error due to some syntax error. A workaround can be find here:


In the case of a CMake Error: Requested modules not available: vtkGUISupportQtWebkit Delete the VTK_MODULE vtkGUISupportQtWebkit in the VTK_INSTALL_DIR\lib\cmake\vtk-8.2\VTKConfig.cmake in line 118: set(VTK_MODULES_ENABLED “…”)