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bash ide c++ 【win11+Visual Studio 2019 配置 PCL 1.12.1 的经验总结分享】

AI一键生成作文开发工具 2024-01-05 17 0

点云pc库的下载与安装参考另外一篇文章，链接： https://blog.csdn.net/weixin_47869094/article/details/131270772?spm=1001.2014.3001.5501

各种教程里面这都很好，就不赘述了，当然，这里也给出一个个人认为不错的安装文章提供参考。 Visual Studio 2022 配置 PCL 1.12.1 的经验总结分享

win10系统VS2019配置点云库PCL1.12.1的教程与经验总结如果已经下载好了，直接进行环境变量配置。一般建议pcl安装c盘，环境变量添加以下路径：

C:\PCL 1.12.1\bin

C:\PCL 1.12.1\3rdParty\VTK\bin

C:\PCL 1.12.1\3rdParty\FLANN\bin

C:\PCL 1.12.1\3rdParty\Qhull\bin

C:\PCL 1.12.1\3rdParty\Boost\lib

C:\PCL 1.12.1\3rdParty\OpenNI2\Tools

C:\PCL 1.12.1\3rdParty\OpenNI2\Redist

安装完pcl会有这几个在path里面进行环境编辑，可能有多的有少的，尽量全部添加，后期避免出错：

%PCL_ROOT%\bin

%PCL_ROOT%\3rdParty\VTK\bin

%PCL_ROOT%\3rdParty\FLANN\bin

%PCL_ROOT%\3rdParty\Qhull\bin

%PCL_ROOT%\3rdParty\OpenNI2\Tools

%OPENNI2_REDIST64%

%OPENNI2_LIB64%

%OPENNI2_INCLUDE64%

到这里环境配置差不多，接下啦进行vscode配置对应。

VS2019配置（1）创建新项目这里选择debug和x64模式（2）新建源文件点击添加（3）打开属性表 4）配置属性：调试-》环境-》编辑

PATH=E:\awork\Package\PCL 1.13.0-rc1\\bin;E:\awork\Package\PCL 1.13.0-rc1\\3rdParty\FLANN\bin;E:\awork\Package\PCL 1.13.0-rc1\\3rdParty\VTK\bin;E:\awork\Package\PCL 1.13.0-rc1\\3rdParty\OpenNI2\Tools

5）C/C+±》语言-》符合模式：否 6）C/C+±》所有选项-》SDL检查：否配置PCL 1.12.1 （1）打开属性管理器：视图-》其他窗口-》属性管理器 2）Debug|x64-》添加新项目属性表（3）项目属性命名 4）双击新建属性-》VC++目录-》包含目录添加以下7个include路径：

C:\Program Files\PCL 1.12.1\include\pcl-1.13

C:\Program Files\PCL 1.12.1\3rdParty\Boost\include\boost-1_80

C:\Program Files\PCL 1.12.1\3rdParty\Eigen\eigen3

C:\Program Files\PCL 1.12.1\3rdParty\FLANN\include

C:\Program Files\PCL 1.12.1\3rdParty\Qhull\include

C:\Program Files\PCL 1.12.1\3rdParty\VTK\include\vtk-9.2

C:\Program Files\PCL 1.12.1\3rdParty\OpenNI2\Include

C:\Program Files\PCL 1.12.1\lib

C:\Program Files\PCL 1.12.1\3rdParty\Boost\lib

C:\Program Files\PCL 1.12.1\3rdParty\FLANN\lib

C:\Program Files\PCL 1.12.1\3rdParty\Qhull\lib

C:\Program Files\PCL 1.12.1\3rdParty\OpenNI2\Lib

C:\Program Files\PCL 1.12.1\3rdParty\VTK\lib

（6）C/C+±》预处理器-》预处理定义，增加如下定义

BOOST_USE_WINDOWS_H

NOMINMAX

_CRT_SECURE_NO_DEPRECATE

7）链接器-》输入-》附加依赖项-》编辑，添加lib文件首先是PCL中的lib文件C:\Program Files\PCL 1.12.1\lib 和VTK中的lib文件C:\Program Files\PCL 1.12.1\3rdParty\VTK\lib这两个位置的lib文件。每个文件都有对应release和debug两个模式的文件。我的是debug模式，选择d结尾的lib文件。VTK中的lib文件gd结尾的是debug模式。如果不是1.12.1,那么lib文件可能有一点不一样，pcl前面部分的lib文件大多数是一样的，只有和VTK中的lib文件C:\Program Files\PCL 1.12.1\3rdParty\VTK\lib里面的文件相差较大可以用以下命令取出来。

首先新建文本文档,输入以下代码并且保存到\PCL 1.12.1\3rdParty\VTK\lib文件夹下面。同时在该文件夹下面新建三个文本文档。分别为all.txt adebug.txt arelease.txt

for %%I in (*.lib) do echo %%I>>all.txt

for %%I in (*d.lib) do echo %%I>>adebug.txt

for %%I in (*9.1.lib) do echo %%I>>arelease.txt

pause

修改文件名字扩展名字为bat格式，同时双击bat。那么文件名字在相对的文件，debug以及release的lib文件。 pcl 1.12.1的lib文件如下：

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

vtkcgns-9.1d.lib

vtkChartsCore-9.1d.lib

vtkCommonColor-9.1d.lib

vtkCommonComputationalGeometry-9.1d.lib

vtkCommonCore-9.1d.lib

vtkCommonDataModel-9.1d.lib

vtkCommonExecutionModel-9.1d.lib

vtkCommonMath-9.1d.lib

vtkCommonMisc-9.1d.lib

vtkCommonSystem-9.1d.lib

vtkCommonTransforms-9.1d.lib

vtkDICOMParser-9.1d.lib

vtkDomainsChemistry-9.1d.lib

vtkDomainsChemistryOpenGL2-9.1d.lib

vtkdoubleconversion-9.1d.lib

vtkexodusII-9.1d.lib

vtkexpat-9.1d.lib

vtkFiltersAMR-9.1d.lib

vtkFiltersCore-9.1d.lib

vtkFiltersExtraction-9.1d.lib

vtkFiltersFlowPaths-9.1d.lib

vtkFiltersGeneral-9.1d.lib

vtkFiltersGeneric-9.1d.lib

vtkFiltersGeometry-9.1d.lib

vtkFiltersHybrid-9.1d.lib

vtkFiltersHyperTree-9.1d.lib

vtkFiltersImaging-9.1d.lib

vtkFiltersModeling-9.1d.lib

vtkFiltersParallel-9.1d.lib

vtkFiltersParallelImaging-9.1d.lib

vtkFiltersPoints-9.1d.lib

vtkFiltersProgrammable-9.1d.lib

vtkFiltersSelection-9.1d.lib

vtkFiltersSMP-9.1d.lib

vtkFiltersSources-9.1d.lib

vtkFiltersStatistics-9.1d.lib

vtkFiltersTexture-9.1d.lib

vtkFiltersTopology-9.1d.lib

vtkFiltersVerdict-9.1d.lib

vtkfmt-9.1d.lib

vtkfreetype-9.1d.lib

vtkGeovisCore-9.1d.lib

vtkgl2ps-9.1d.lib

vtkglew-9.1d.lib

vtkhdf5-9.1d.lib

vtkhdf5_hl-9.1d.lib

vtkImagingColor-9.1d.lib

vtkImagingCore-9.1d.lib

vtkImagingFourier-9.1d.lib

vtkImagingGeneral-9.1d.lib

vtkImagingHybrid-9.1d.lib

vtkImagingMath-9.1d.lib

vtkImagingMorphological-9.1d.lib

vtkImagingSources-9.1d.lib

vtkImagingStatistics-9.1d.lib

vtkImagingStencil-9.1d.lib

vtkInfovisCore-9.1d.lib

vtkInfovisLayout-9.1d.lib

vtkInteractionImage-9.1d.lib

vtkInteractionStyle-9.1d.lib

vtkInteractionWidgets-9.1d.lib

vtkIOAMR-9.1d.lib

vtkIOAsynchronous-9.1d.lib

vtkIOCGNSReader-9.1d.lib

vtkIOChemistry-9.1d.lib

vtkIOCityGML-9.1d.lib

vtkIOCONVERGECFD-9.1d.lib

vtkIOCore-9.1d.lib

vtkIOEnSight-9.1d.lib

vtkIOExodus-9.1d.lib

vtkIOExport-9.1d.lib

vtkIOExportGL2PS-9.1d.lib

vtkIOExportPDF-9.1d.lib

vtkIOGeometry-9.1d.lib

vtkIOHDF-9.1d.lib

vtkIOImage-9.1d.lib

vtkIOImport-9.1d.lib

vtkIOInfovis-9.1d.lib

vtkIOIOSS-9.1d.lib

vtkIOLegacy-9.1d.lib

vtkIOLSDyna-9.1d.lib

vtkIOMINC-9.1d.lib

vtkIOMotionFX-9.1d.lib

vtkIOMovie-9.1d.lib

vtkIONetCDF-9.1d.lib

vtkIOOggTheora-9.1d.lib

vtkIOParallel-9.1d.lib

vtkIOParallelXML-9.1d.lib

vtkIOPLY-9.1d.lib

vtkIOSegY-9.1d.lib

vtkIOSQL-9.1d.lib

vtkioss-9.1d.lib

vtkIOTecplotTable-9.1d.lib

vtkIOVeraOut-9.1d.lib

vtkIOVideo-9.1d.lib

vtkIOXML-9.1d.lib

vtkIOXMLParser-9.1d.lib

vtkjpeg-9.1d.lib

vtkjsoncpp-9.1d.lib

vtkkissfft-9.1d.lib

vtklibharu-9.1d.lib

vtklibproj-9.1d.lib

vtklibxml2-9.1d.lib

vtkloguru-9.1d.lib

vtklz4-9.1d.lib

vtklzma-9.1d.lib

vtkmetaio-9.1d.lib

vtknetcdf-9.1d.lib

vtkogg-9.1d.lib

vtkParallelCore-9.1d.lib

vtkParallelDIY-9.1d.lib

vtkpng-9.1d.lib

vtkpugixml-9.1d.lib

vtkRenderingAnnotation-9.1d.lib

vtkRenderingContext2D-9.1d.lib

vtkRenderingContextOpenGL2-9.1d.lib

vtkRenderingCore-9.1d.lib

vtkRenderingFreeType-9.1d.lib

vtkRenderingGL2PSOpenGL2-9.1d.lib

vtkRenderingImage-9.1d.lib

vtkRenderingLabel-9.1d.lib

vtkRenderingLOD-9.1d.lib

vtkRenderingOpenGL2-9.1d.lib

vtkRenderingSceneGraph-9.1d.lib

vtkRenderingUI-9.1d.lib

vtkRenderingVolume-9.1d.lib

vtkRenderingVolumeOpenGL2-9.1d.lib

vtkRenderingVtkJS-9.1d.lib

vtksqlite-9.1d.lib

vtksys-9.1d.lib

vtkTestingRendering-9.1d.lib

vtktheora-9.1d.lib

vtktiff-9.1d.lib

vtkverdict-9.1d.lib

vtkViewsContext2D-9.1d.lib

vtkViewsCore-9.1d.lib

vtkViewsInfovis-9.1d.lib

vtkWrappingTools-9.1d.lib

vtkzlib-9.1d.lib

（8）保存属性表测试代码

#include

using namespace std;

int

main(int argc, char** argv)

{

srand((unsigned int)time(NULL));

pcl::PointCloud::Ptr cloud(new pcl::PointCloud);

// 创建点云数据

cloud->width = 1000;

cloud->height = 1;

cloud->points.resize(cloud->width * cloud->height);

for (size_t i = 0; i < cloud->points.size(); ++i)

{

cloud->points[i].x = 1024.0f * rand() / (RAND_MAX + 1.0f);

cloud->points[i].y = 1024.0f * rand() / (RAND_MAX + 1.0f);

cloud->points[i].z = 1024.0f * rand() / (RAND_MAX + 1.0f);

}

pcl::octree::OctreePointCloudSearch octree(0.1);

octree.setInputCloud(cloud);

octree.addPointsFromInputCloud();

pcl::PointXYZ searchPoint;

searchPoint.x = 1024.0f * rand() / (RAND_MAX + 1.0f);

searchPoint.y = 1024.0f * rand() / (RAND_MAX + 1.0f);

searchPoint.z = 1024.0f * rand() / (RAND_MAX + 1.0f);

//半径内近邻搜索

vectorpointIdxRadiusSearch;

vectorpointRadiusSquaredDistance;

float radius = 256.0f * rand() / (RAND_MAX + 1.0f);

cout << "Neighbors within radius search at (" << searchPoint.x

<< " " << searchPoint.y

<< " " << searchPoint.z

<< ") with radius=" << radius << endl;

if (octree.radiusSearch(searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance) > 0)

{

for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i)

cout << " " << cloud->points[pointIdxRadiusSearch[i]].x

<< " " << cloud->points[pointIdxRadiusSearch[i]].y

<< " " << cloud->points[pointIdxRadiusSearch[i]].z

<< " (squared distance: " << pointRadiusSquaredDistance[i] << ")" << endl;

}

// 初始化点云可视化对象

boost::shared_ptrviewer(new pcl::visualization::PCLVisualizer("显示点云"));

viewer->setBackgroundColor(0, 0, 0); //设置背景颜色为黑色

// 对点云着色可视化 (red).

pcl::visualization::PointCloudColorHandlerCustomtarget_color(cloud, 255, 0, 0);

viewer->addPointCloud(cloud, target_color, "target cloud");

viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "target cloud");

// 等待直到可视化窗口关闭

while (!viewer->wasStopped())

{

viewer->spinOnce(100);

boost::this_thread::sleep(boost::posix_time::microseconds(1000));

}

return (0);

}

结果滚轮可以滚动方块。

参考阅读

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bash ide c++ 【win11+Visual Studio 2019 配置 PCL 1.12.1 的经验总结分享】

ide 使用Visual Studio 2019创建C#项目

windows visual studio vs2015软件打包及常见问题解决方法

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