c#封装最新版本点云库pcl，使用PclSharp，pcl为1.14.1版本

编译器是：vs2022

pcl版本：1.14.1

1.第一步下载pcl最新版1.14.1，安装后，配置环境变量

2.下载PclSharp源码GitHub - jbruening/PclSharp: Point Cloud Library pinvoke binding for c#，找到src文件夹下的PclSharp.Extern 这个封装c++版本的工程，最终输出pclsharp.extern.dll,这个为c++工程，原本是vs2022工程配置的，使用属性表配置跑出来，设置项目繁琐，这里改为cmake来配置；PclSharp.Extern.Vis这个可视化部分比较简单，也和PclSharp.Extern合并了。

cmake_minimum_required(VERSION 3.0)
project(PclSharp.Extern)
 
find_package(PCL REQUIRED  )
set(CMAKE_BUILD_TYPE Release)

include_directories(${PCL_INCLUDE_DIRS})
include_directories("D:/Program Files/PCL 1.14.1/3rdParty/FLANN/include")
message(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

file(GLOB POINTCLOUD_SRC ./pointcloud/*.cpp)
file(GLOB SAMPLECONSENSUS_SRC ./sampleconsensus/*.cpp)
file(GLOB STD_SRC ./std/*.cpp)
file(GLOB REGISTRATION_SRC ./registration/*.cpp)
file(GLOB SEGMENTATION_SRC ./segmentation/*.cpp)

add_library( PclSharp.Extern SHARED PointSizes.cpp visualizer.cpp
"common/ModelCoefficients.generated.cpp"
 "common/PCAOfXYZ.generated.cpp" "common/PclBaseOfXYZ.generated.cpp"
 common/PclBaseOfXYZRGBA.generated.cpp
 common/PointIndices.generated.cpp
 filters/ExtractIndicesXYZ.generated.cpp
 filters/Heightmap2DOfXYZ.generated.cpp
 filters/StatisticalOutlierRemovalOfXYZ.generated.cpp
 filters/VoxelGridOfXYZ.generated.cpp
 ${POINTCLOUD_SRC}
 ${SAMPLECONSENSUS_SRC}
 ${STD_SRC}
 ${REGISTRATION_SRC}
 ${SEGMENTATION_SRC}
 search/KdTreeOfXYZ.generated.cpp
 search/OrganizedNeighborOfXYZ.generated.cpp
 features/FPFHEstimationOfPointXYZAndNormal.generated.cpp
 features/IntegralImageNormalEstimationOfPointXYZAndNormal.generated.cpp
 io/PCDReader.generated.cpp
 io/PCDWriter.generated.cpp
 
 "eigen/Matrix4f.generated.cpp" 
 "eigen/VectorXf.generated.cpp"
 
  algrithom/detectAnomaly.cpp
 )

target_link_libraries(PclSharp.Extern ${PCL_LIBRARIES})

使用vscode配置更方便，如果添加自定义的pcl算法，需要编写代码，visual studio 变量提示不太方便，vscode可以配置c_cpp_properties.json文件：

{
    "configurations": [
        {
            "name": "Win32",
            "includePath": [
                "${workspaceFolder}/**",
                "D:/Program Files/PCL 1.14.1/include/pcl-1.14",
                "D:/Program Files/PCL 1.14.1/3rdParty/Eigen3/include/eigen3",
                "D:/Program Files/PCL 1.14.1/3rdParty/Boost/include/boost-1_84",
                "C:/Program Files/OpenNI2/Include",
                "D:/Program Files/PCL 1.14.1/3rdParty/FLANN/include"

            ],
            "defines": [
                "_DEBUG",
                "UNICODE",
                "_UNICODE"
            ],
            "windowsSdkVersion": "10.0.22000.0",
            "compilerPath": "cl.exe",
            "cStandard": "c17",
            "cppStandard": "c++17",
            "intelliSenseMode": "windows-msvc-x64"
        }
    ],
    "version": 4
}

最后生成vs工程，可以到输出目录找到sln工程文件，用vs2022打开，编译即可

其中pcl最新版智能指针已全部使用标准库std::shared_ptr这个了，所以在工程中查找boost::shared_ptr，全部替换为std::shared_ptr

3.编译pclsharp这个csharp工程

4.测试csharp调用

5.高级部分：如何封装自己的算法，并实现调用？

有的是直接想在csharp上开发pcl算法，但存在一定的弊端：（1）源代码得不到保护 (2)托管内存释放存在延时，对程序性能有一定影响

所以最好的方式是使用c++ 进行开发，csharp只负责上位机调用即可。

代码下载地址，包含所有源代码和可以执行的文件

c#封装最新1.14.1版本的Pcl，包含源码和编译好的文件资源-CSDN文库