Visual Studio配置PCL库
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Visual Studio配置PCL库
Debug和Release
Debug和Release的配置过程一模一样唯一区别就在于最后一步插入的附加依赖项不同因此下面以debug为例。
配置新建项目
1、新建一个C++空项目模式设置为DebugX64
2、在源文件内新建一个c++文件后缀是cpp。
3、右键刚刚新建的项目注意不是源文件选择属性–配置属性–调试–环境–编辑添加如下的环境
PATH=D:/Windows/softwares/PCL 1.13.1/bin;D:/Windows/softwares/PCL 1.13.1/3rdParty/FLANN/bin;D:/Windows/softwares/PCL 1.13.1/3rdParty/VTK/bin;D:/Windows/softwares/PCL 1.13.1/3rdParty/OpenNI2/Tools
4、选择 C/C+±-语言–符合模式–设置为否
5、选择 C/C+±-所有选项–SDL检查–设置为否
5、点击应用和确定
配置属性表
1、找到属性管理器视图–其他窗口–属性管理器
2、在属性管理器里找到Debug|x64如果配置release就找到release|x64右键打开后选择新建新的项目属性表名称自定义
3、右键新建的属性表打开属性C/C++ – 所有选项 – SDL检查 – 设置为否
4、选择VC++目录 – 包含目录 – 编辑 --添加新的目录如下
内容如下
D:/Windows/softwares/PCL 1.13.1/include/pcl-1.13
D:/Windows/softwares/PCL 1.13.1/3rdParty/Boost/include/boost-1_82
D:/Windows/softwares/PCL 1.13.1/3rdParty/Eigen/eigen3
D:/Windows/softwares/PCL 1.13.1/3rdParty/FLANN/include
D:/Windows/softwares/PCL 1.13.1/3rdParty/Qhull/include
D:/Windows/softwares/PCL 1.13.1/3rdParty/VTK/include/vtk-9.2
D:/Windows/softwares/PCL 1.13.1/3rdParty/OpenNI2/Include```
5、选择VC++目录 – 库目录 – 编辑 --添加新的目录如下
内容如下
D:/Windows/softwares/PCL 1.13.1/lib
D:/Windows/softwares/PCL 1.13.1/3rdParty/Boost/lib
D:/Windows/softwares/PCL 1.13.1/3rdParty/FLANN/lib
D:/Windows/softwares/PCL 1.13.1/3rdParty/Qhull/lib
D:/Windows/softwares/PCL 1.13.1/3rdParty/VTK/lib
D:/Windows/softwares/PCL 1.13.1/3rdParty/OpenNI2/Lib
6、选择C/C++ – 预处理器 – 预处理器定义 – 编辑 --添加预处理器定义如下
内容如下
BOOST_USE_WINDOWS_H
NOMINMAX
_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS
7、接着点击属性页中的链接器下的输入点击右侧的附加依赖项右侧的下拉菜单选择编辑将链接库名填入
链接库名可以自动生成在pcl文件夹的lib目录、3rdParty中Boost、FLANN、Qhull、VTK、OpenNI2的lib目录下分别新建txt文件get.txt并写入如下内容随后改为get.bat运行生成相应文件。读取出来的链接库是包含了release版本和Debug版本名字后面带d或者gd的两种。
pcl的这里自动读出来debug版本链接库名和全部链接库名手动从liblist-all.txt中删除liblist-debug.txt中出现的文件名就生成了release版本
DIR *d.lib /B >liblist-debug.txt
DIR *.lib /B >liblist-all.txt
Boost的这里自动生成debug和release版本
DIR *mt-gd-x64-1_82.lib /B >aboost-debug.txt
DIR *mt-x64-1_82.lib /B >aboost-rel.txt
DIR *.lib /B >aboost-all.txt
FLANN的这里自动读出来debug版本和全部链接库名手动从aflann-all.txt中删除aflann-debug.txt中出现的文件名就生成了release版本
DIR *gd.lib /B >aflann-debug.txt
DIR *.lib /B >aflann-all.txt
Qhull的这里自动读出来debug版本和全部链接库名手动从aqhull-all.txt中删除aqhull-debug.txt中出现的文件名就生成了release版本
DIR *d.lib /B >aqhull-debug.txt
DIR *.lib /B >aqhull-rel.txt
DIR *.lib /B >aqhull-all.txt
VTK的这里自动生成debug和release版本
DIR *gd.lib /B >vtk-debug.txt
DIR *9.2.lib /B >vtk-rel.txt
DIR *.lib /B >vtk-all.txt
OpenNI2的Lib目录下只有一个lib文件直接复制文件名带扩展名即可。这一个既放入debug中也放入release中。
PCL1.13.1版本汇总如下如果PCL版本和我一样可以直接复制我下面汇总好的。
debug版本
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
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_rd.lib
qhull_rd.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
libboost_atomic-vc143-mt-gd-x64-1_82.lib
libboost_bzip2-vc143-mt-gd-x64-1_82.lib
libboost_chrono-vc143-mt-gd-x64-1_82.lib
libboost_container-vc143-mt-gd-x64-1_82.lib
libboost_context-vc143-mt-gd-x64-1_82.lib
libboost_contract-vc143-mt-gd-x64-1_82.lib
libboost_coroutine-vc143-mt-gd-x64-1_82.lib
libboost_date_time-vc143-mt-gd-x64-1_82.lib
libboost_exception-vc143-mt-gd-x64-1_82.lib
libboost_fiber-vc143-mt-gd-x64-1_82.lib
libboost_filesystem-vc143-mt-gd-x64-1_82.lib
libboost_graph-vc143-mt-gd-x64-1_82.lib
libboost_graph_parallel-vc143-mt-gd-x64-1_82.lib
libboost_iostreams-vc143-mt-gd-x64-1_82.lib
libboost_json-vc143-mt-gd-x64-1_82.lib
libboost_locale-vc143-mt-gd-x64-1_82.lib
libboost_log-vc143-mt-gd-x64-1_82.lib
libboost_log_setup-vc143-mt-gd-x64-1_82.lib
libboost_math_c99-vc143-mt-gd-x64-1_82.lib
libboost_math_c99f-vc143-mt-gd-x64-1_82.lib
libboost_math_c99l-vc143-mt-gd-x64-1_82.lib
libboost_math_tr1-vc143-mt-gd-x64-1_82.lib
libboost_math_tr1f-vc143-mt-gd-x64-1_82.lib
libboost_math_tr1l-vc143-mt-gd-x64-1_82.lib
libboost_mpi-vc143-mt-gd-x64-1_82.lib
libboost_nowide-vc143-mt-gd-x64-1_82.lib
libboost_numpy310-vc143-mt-gd-x64-1_82.lib
libboost_prg_exec_monitor-vc143-mt-gd-x64-1_82.lib
libboost_program_options-vc143-mt-gd-x64-1_82.lib
libboost_python310-vc143-mt-gd-x64-1_82.lib
libboost_random-vc143-mt-gd-x64-1_82.lib
libboost_regex-vc143-mt-gd-x64-1_82.lib
libboost_serialization-vc143-mt-gd-x64-1_82.lib
libboost_stacktrace_noop-vc143-mt-gd-x64-1_82.lib
libboost_stacktrace_windbg-vc143-mt-gd-x64-1_82.lib
libboost_stacktrace_windbg_cached-vc143-mt-gd-x64-1_82.lib
libboost_system-vc143-mt-gd-x64-1_82.lib
libboost_test_exec_monitor-vc143-mt-gd-x64-1_82.lib
libboost_thread-vc143-mt-gd-x64-1_82.lib
libboost_timer-vc143-mt-gd-x64-1_82.lib
libboost_type_erasure-vc143-mt-gd-x64-1_82.lib
libboost_unit_test_framework-vc143-mt-gd-x64-1_82.lib
libboost_url-vc143-mt-gd-x64-1_82.lib
libboost_wave-vc143-mt-gd-x64-1_82.lib
libboost_wserialization-vc143-mt-gd-x64-1_82.lib
libboost_zlib-vc143-mt-gd-x64-1_82.lib
OpenNI2.lib
release版本
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
qhullcpp.lib
qhullstatic.lib
qhullstatic_r.lib
qhull_r.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_s.lib
libboost_atomic-vc143-mt-x64-1_82.lib
libboost_bzip2-vc143-mt-x64-1_82.lib
libboost_chrono-vc143-mt-x64-1_82.lib
libboost_container-vc143-mt-x64-1_82.lib
libboost_context-vc143-mt-x64-1_82.lib
libboost_contract-vc143-mt-x64-1_82.lib
libboost_coroutine-vc143-mt-x64-1_82.lib
libboost_date_time-vc143-mt-x64-1_82.lib
libboost_exception-vc143-mt-x64-1_82.lib
libboost_fiber-vc143-mt-x64-1_82.lib
libboost_filesystem-vc143-mt-x64-1_82.lib
libboost_graph-vc143-mt-x64-1_82.lib
libboost_graph_parallel-vc143-mt-x64-1_82.lib
libboost_iostreams-vc143-mt-x64-1_82.lib
libboost_json-vc143-mt-x64-1_82.lib
libboost_locale-vc143-mt-x64-1_82.lib
libboost_log-vc143-mt-x64-1_82.lib
libboost_log_setup-vc143-mt-x64-1_82.lib
libboost_math_c99-vc143-mt-x64-1_82.lib
libboost_math_c99f-vc143-mt-x64-1_82.lib
libboost_math_c99l-vc143-mt-x64-1_82.lib
libboost_math_tr1-vc143-mt-x64-1_82.lib
libboost_math_tr1f-vc143-mt-x64-1_82.lib
libboost_math_tr1l-vc143-mt-x64-1_82.lib
libboost_mpi-vc143-mt-x64-1_82.lib
libboost_nowide-vc143-mt-x64-1_82.lib
libboost_numpy310-vc143-mt-x64-1_82.lib
libboost_prg_exec_monitor-vc143-mt-x64-1_82.lib
libboost_program_options-vc143-mt-x64-1_82.lib
libboost_python310-vc143-mt-x64-1_82.lib
libboost_random-vc143-mt-x64-1_82.lib
libboost_regex-vc143-mt-x64-1_82.lib
libboost_serialization-vc143-mt-x64-1_82.lib
libboost_stacktrace_noop-vc143-mt-x64-1_82.lib
libboost_stacktrace_windbg-vc143-mt-x64-1_82.lib
libboost_stacktrace_windbg_cached-vc143-mt-x64-1_82.lib
libboost_system-vc143-mt-x64-1_82.lib
libboost_test_exec_monitor-vc143-mt-x64-1_82.lib
libboost_thread-vc143-mt-x64-1_82.lib
libboost_timer-vc143-mt-x64-1_82.lib
libboost_type_erasure-vc143-mt-x64-1_82.lib
libboost_unit_test_framework-vc143-mt-x64-1_82.lib
libboost_url-vc143-mt-x64-1_82.lib
libboost_wave-vc143-mt-x64-1_82.lib
libboost_wserialization-vc143-mt-x64-1_82.lib
libboost_zlib-vc143-mt-x64-1_82.lib
OpenNI2.lib
测试
在源文件内的cpp文件中拷贝如下内容运行成功即配置成功。代码需要的test.pcd文件详见
https://blog.csdn.net/weixin_43464623/article/details/117172725?spm=1001.2014.3001.5506
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/features/normal_3d.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/visualization/cloud_viewer.h>
int main(int argc, char* argv[])
{
pcl::PCDReader reader;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
reader.read("test.pcd", *cloud); //读取点云
std::cerr << "test point cloud has: " << cloud->size() << " points." << std::endl;
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals(new pcl::PointCloud<pcl::Normal>);
pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>());
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne; //计算点云法向量
ne.setSearchMethod(tree); //使用kdtree搜索方法
ne.setInputCloud(cloud);
ne.setKSearch(5); //使用邻近5个点计算法向量
ne.compute(*cloud_normals);
pcl::ModelCoefficients::Ptr coefficients_cylinder(new pcl::ModelCoefficients);
pcl::PointIndices::Ptr inliers_cylinder(new pcl::PointIndices);
pcl::SACSegmentationFromNormals<pcl::PointXYZ, pcl::Normal> seg; //使用ransac分割圆柱体
seg.setOptimizeCoefficients(true);
seg.setModelType(pcl::SACMODEL_CYLINDER); //分割模型设置为圆柱体
seg.setMethodType(pcl::SAC_RANSAC);
seg.setNormalDistanceWeight(0.05);
seg.setMaxIterations(10000); //迭代次数设置这么大是因为圆柱体不好分割因此项目中慎用
seg.setDistanceThreshold(0.03);
seg.setRadiusLimits(0, 0.1); //半径都要设置的很精确因此此算法鲁棒性并不高项目中慎用
seg.setInputCloud(cloud);
seg.setInputNormals(cloud_normals);
seg.segment(*inliers_cylinder, *coefficients_cylinder);
std::cerr << "cylinder coefficients: " << *coefficients_cylinder << std::endl; //打印圆柱体几何模型系数
pcl::ExtractIndices<pcl::PointXYZ> extract;
extract.setInputCloud(cloud);
extract.setIndices(inliers_cylinder);
extract.setNegative(false);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_cylinder(new pcl::PointCloud<pcl::PointXYZ>());
extract.filter(*cloud_cylinder); //抽取圆柱体点云
if (cloud_cylinder->points.empty())
{
std::cerr << "Can't find the cylindrical component." << std::endl;
}
pcl::visualization::PCLVisualizer viewer("Cloud Viewer");
int v1(0); //创建左窗口显式cloud1原始点云
viewer.createViewPort(0, 0, 0.5, 1.0, v1); //左右窗口大小划分1:1
viewer.setBackgroundColor(0, 0, 0, v1);
viewer.addText("Cloud1", 2, 2, "Cloud1", v1); //窗口下的标题
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> rgb1(cloud, "z");
viewer.addPointCloud<pcl::PointXYZ>(cloud, rgb1, "cloud1", v1);
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud1", v1);
int v2(1); //创建右窗口显示cloud2圆柱体点云
viewer.createViewPort(0.5, 0, 1.0, 1.0, v2); //左右窗口大小划分1:1
viewer.setBackgroundColor(0, 0, 0, v2);
viewer.addText("Cloud2", 2, 2, "Cloud2", v2); //窗口下的标题
pcl::visualization::PointCloudColorHandlerGenericField<pcl::PointXYZ> rgb2(cloud_cylinder, "z");
viewer.addPointCloud<pcl::PointXYZ>(cloud_cylinder, rgb2, "cloud2", v2);
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud2", v2);
viewer.spin();
return (0);
}
参考
【1】: https://blog.csdn.net/qq_45006390/article/details/118928500?spm=1001.2014.3001.5506
【2】: https://blog.csdn.net/qq_42676511/article/details/126054136?spm=1001.2014.3001.5506
【3】: https://blog.csdn.net/weixin_43464623/article/details/117172725?spm=1001.2014.3001.5506
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