VS2019配置PCL1.11

1、下载PCL 下载地址：https://github.com/PointCloudLibrary/pcl/releases

(此时已更新为PCL1.21）

2、安装PCL，勾选第二项，方便后续的环境变量配置，(如果有弹出openNI2的安装，选(PCL安装路径)\3rdParty目录下；

 

3、将pcl-1.11.1-pdb-msvc2019-win64文件夹下的文件复制到PCL安装路径下的bin文件夹内

4、配置环境变量

 5、打开VS，新建一个空项目，注意创建一个源文件，否则项目属性里面没有调试选项，配置项目属性如下(平台选择debug 64)

6、C++选项卡下面的语言一览，将符合模式改为否

 7、C++选项卡下面的所有选项一览，将SDL检查改为否

 8、新建项目属性表，配置项目属性表，配置如下

 包含目录

库目录

 预处理命令包含(_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS）

 更改SDL检查为否

配置链接输入(PCL根目录下的lib文件（H:\PCL\PCL 1.11.1\lib）和PCL\3rdParty\VTK下的lib文件，因为配置的是debug，因此选择的文件应为d.lib结尾，vtk下为gd.lib）；

在相应的lib目录下，打开控制台后输入 dir /b *d.lib >debug.txt 可以快速获取相应的lib文件名，vtk的lib文件夹下命令为dir /b *gd.lib >debug.txt

 配置结束

测试代码

#include <iostream>
#include <vector>
#include <ctime>
#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>
#include <boost/thread/thread.hpp>
#include <pcl/visualization/pcl_visualizer.h>
using namespace std;
int
main(int argc, char** argv)
{
	srand((unsigned int)time(NULL));
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	// 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<pcl::PointXYZ> 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
	vector<int>pointIdxRadiusSearch;
	vector<float>pointRadiusSquaredDistance;
	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_ptr<pcl::visualization::PCLVisualizer>viewer(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::PointCloudColorHandlerCustom<pcl::PointXYZ>target_color(cloud, 255, 0, 0);
	viewer->addPointCloud<pcl::PointXYZ>(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);
}
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版权声明：本文为CSDN博主「Wxy1122.」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。
原文链接：https://blog.csdn.net/Wxy971122/article/details/117018767

参考链接：Win10+VS2019环境下配置点云库PCL1.11.1（超详细）_Wxy1122.的博客-CSDN博客