VS2022+PCL1.13.0配置保姆级教程
文章目录
- VS2022+PCL1.13.0配置保姆级教程
-
- 参考博客
- 1.VS和PCL的下载与安装
- 2.配置pcl环境变量
- 3.配置VS项目-属性
-
- 3.1 C/C++ 常规 SDL检查 ：否
- 3.2 C/C++ 语言 符合模式 ：否
- 3.3 C/C++ 语言 预处理器 ：添加以下三行
- 3.4 C/C++ 代码生成 ：启用增强指令集（pcl1.13.0新增）
- 3.5 调试 环境：编辑如下内容
- 3.6 链接器 输入：添加附加依赖项
- 3.7 VC++ 目录：包含目录，添加以下7条
- 4.大功告成，添加测试代码，运行
VS2022+PCL1.13.0配置保姆级教程
参考博客
(19条消息) Win10 系统下VisualStudio2022 配置点云库 PCL1.13.0_点云侠的博客-CSDN博客
(19条消息) Win10 系统下 VisualStudio2019 配置点云库 PCL1.11.1_mfc vtk pcl 1.13.0_点云侠的博客-CSDN博客
1.VS和PCL的下载与安装
VS2022: 下载安装VS2022 社区版免费下载 Visual Studio Tools - 免费安装 Windows、Mac、Linux (microsoft.com)
PCL: github下载pcl1.13.0Releases · PointCloudLibrary/pcl (github.com)
下载以上两个文件
下载完之后打开.exe安装pcl，勾选添加环境变量（安装完之后会自动在系统环境变量-path中添加PCL相关的环境变量，比如%PCL_ROOT%）
2.配置pcl环境变量
在用户的Path里编辑添加如图的5个环境变量
3.配置VS项目-属性
创建新项目
解决方案配置选为 Debug x64
右击项目名，点属性
3.1 C/C++ 常规 SDL检查 ：否
3.2 C/C++ 语言 符合模式 ：否
3.3 C/C++ 语言 预处理器 ：添加以下三行
BOOST_USE_WINDOWS_H
NOMINMAX
_CRT_SECURE_NO_DEPRECATE
3.4 C/C++ 代码生成 ：启用增强指令集（pcl1.13.0新增）
（接下来的步骤很繁琐，请保持耐心！）
3.5 调试 环境：编辑如下内容
# 是一行，千万不要换行，要不只能识别第一个路径，后续的识别不到
# 路径名里的“D:\Program Files\PCL 1.13.0”替换为自己实际的安装目录名称，之后的步骤里同理
PATH=D:\Program Files\PCL 1.13.0\bin;D:\Program Files\PCL 1.13.0\3rdParty\VTK\bin;D:\Program Files\PCL 1.13.0\3rdParty\FLANN\bin;D:\Program Files\PCL 1.13.0\3rdParty\OpenNI2\Tools;D:\Program Files\PCL 1.13.0\3rdParty\Qhull\bin
3.6 链接器 输入：添加附加依赖项
添加依赖项需要在各个lib目录里区分带gd（对应Debug版本）和不带gd的.lib文件名，分别整合出所有Debug版本和Release版本的.lib文件，然后选择一个写进附加依赖项，参考VS中PCL库附加依赖项配置 - life_limbo - 博客园 (cnblogs.com)
可以用批处理命令，比如在文件夹%PCL_ROOT%\lib下新建文本文档，改后缀名为.bat，笔记本打开编辑如下内容：
@echo off
for %%I in (*.lib) do echo %%I>>all.txt //解释：对每一个(*.lib)通配符匹配到的文件名I，显示I到文件all.txt，之后的语句类似理解就可
for %%I in (*debug.lib) do echo %%I>>adebug.txt
for %%I in (*release.lib) do echo %%I>>arelease.txt
pause
则会生成adebug.txt保存debug模式下的依赖项、arelease.txt保存release模式下的依赖项、all.txt保存所有依赖项
但我试了一下，一直没成功，批处理提示系统找不到路径
后来直接找到了我这版本的依赖项，直接复制粘贴了
(19条消息) Win10 系统下 VisualStudio2019 配置点云库 PCL1.11.1_mfc vtk pcl 1.13.0_点云侠的博客-CSDN博客这篇文章里讲了另外一个提出依赖项的方法，其他版本的uu可以尝试一下
Debug模式和Release选一个编辑到附加依赖项
1.13.0 Debug
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-9.2-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
1.13.0 Release
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
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
3.7 VC++ 目录：包含目录，添加以下7条
D:\Program Files\PCL 1.13.0\3rdParty\VTK\include\vtk-9.2
D:\Program Files\PCL 1.13.0\3rdParty\Qhull\include
D:\Program Files\PCL 1.13.0\3rdParty\OpenNI2\Include
D:\Program Files\PCL 1.13.0\3rdParty\FLANN\include
D:\Program Files\PCL 1.13.0\3rdParty\Eigen\eigen3
D:\Program Files\PCL 1.13.0\3rdParty\Boost\include\boost-1_80
D:\Program Files\PCL 1.13.0\include\pcl-1.13
库目录，添加以下6条
D:\Program Files\PCL 1.13.0\3rdParty\VTK\lib
D:\Program Files\PCL 1.13.0\3rdParty\Qhull\lib
D:\Program Files\PCL 1.13.0\3rdParty\OpenNI2\Lib
D:\Program Files\PCL 1.13.0\3rdParty\Boost\lib
D:\Program Files\PCL 1.13.0\3rdParty\FLANN\lib
D:\Program Files\PCL 1.13.0\lib
4.大功告成，添加测试代码，运行
#include
#include
#include
#include
#include
#include
#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);
}
