pcl在vs 的配置 测试代码

学习文章

1、VS2017+PCL1.8.1安装配置_vs2017配置pcl1.8.1-CSDN博客

2、VisualStudio如何配置PCL点云库？_vs2015配置pcl-CSDN博客

3、visual studio配置pcl环境和opencv环境，方法一样_在vs中配置opencv和pcl-CSDN博客

debug 链接器，输入，附加依赖项，复制下列添加
pcl_common_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_io_debug.lib
pcl_io_ply_debug.lib
pcl_kdtree_debug.lib
pcl_keypoints_debug.lib
pcl_ml_debug.lib
pcl_octree_debug.lib
pcl_outofcore_debug.lib
pcl_people_debug.lib
pcl_recognition_debug.lib
pcl_registration_debug.lib
pcl_sample_consensus_debug.lib
pcl_search_debug.lib
pcl_segmentation_debug.lib
pcl_stereo_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
pcl_visualization_debug.lib
libboost_atomic-vc140-mt-gd-1_64.lib
libboost_bzip2-vc140-mt-gd-1_64.lib
libboost_chrono-vc140-mt-gd-1_64.lib
libboost_container-vc140-mt-gd-1_64.lib
libboost_context-vc140-mt-gd-1_64.lib
libboost_coroutine-vc140-mt-gd-1_64.lib
libboost_date_time-vc140-mt-gd-1_64.lib
libboost_exception-vc140-mt-gd-1_64.lib
libboost_fiber-vc140-mt-gd-1_64.lib
libboost_filesystem-vc140-mt-gd-1_64.lib
libboost_graph-vc140-mt-gd-1_64.lib
libboost_graph_parallel-vc140-mt-gd-1_64.lib
libboost_iostreams-vc140-mt-gd-1_64.lib
libboost_locale-vc140-mt-gd-1_64.lib
libboost_log-vc140-mt-gd-1_64.lib
libboost_log_setup-vc140-mt-gd-1_64.lib
libboost_math_c99-vc140-mt-gd-1_64.lib
libboost_math_c99f-vc140-mt-gd-1_64.lib
libboost_math_c99l-vc140-mt-gd-1_64.lib
libboost_math_tr1-vc140-mt-gd-1_64.lib
libboost_math_tr1f-vc140-mt-gd-1_64.lib
libboost_math_tr1l-vc140-mt-gd-1_64.lib
libboost_mpi-vc140-mt-gd-1_64.lib
libboost_numpy3-vc140-mt-gd-1_64.lib
libboost_numpy-vc140-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc140-mt-gd-1_64.lib
libboost_program_options-vc140-mt-gd-1_64.lib
libboost_python3-vc140-mt-gd-1_64.lib
libboost_python-vc140-mt-gd-1_64.lib
libboost_random-vc140-mt-gd-1_64.lib
libboost_regex-vc140-mt-gd-1_64.lib
libboost_serialization-vc140-mt-gd-1_64.lib
libboost_signals-vc140-mt-gd-1_64.lib
libboost_system-vc140-mt-gd-1_64.lib
libboost_test_exec_monitor-vc140-mt-gd-1_64.lib
libboost_thread-vc140-mt-gd-1_64.lib
libboost_timer-vc140-mt-gd-1_64.lib
libboost_type_erasure-vc140-mt-gd-1_64.lib
libboost_unit_test_framework-vc140-mt-gd-1_64.lib
libboost_wave-vc140-mt-gd-1_64.lib
libboost_wserialization-vc140-mt-gd-1_64.lib
libboost_zlib-vc140-mt-gd-1_64.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
flann-gd.lib
flann_cpp-gd.lib
qhull_d.lib
qhull_p_d.lib
qhull_r_d.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_r_d.lib
vtkalglib-8.0-gd.lib
vtkChartsCore-8.0-gd.lib
vtkCommonColor-8.0-gd.lib
vtkCommonComputationalGeometry-8.0-gd.lib
vtkCommonCore-8.0-gd.lib
vtkCommonDataModel-8.0-gd.lib
vtkCommonExecutionModel-8.0-gd.lib
vtkCommonMath-8.0-gd.lib
vtkCommonMisc-8.0-gd.lib
vtkCommonSystem-8.0-gd.lib
vtkCommonTransforms-8.0-gd.lib
vtkDICOMParser-8.0-gd.lib
vtkDomainsChemistry-8.0-gd.lib
vtkexoIIc-8.0-gd.lib
vtkexpat-8.0-gd.lib
vtkFiltersAMR-8.0-gd.lib
vtkFiltersCore-8.0-gd.lib
vtkFiltersExtraction-8.0-gd.lib
vtkFiltersFlowPaths-8.0-gd.lib
vtkFiltersGeneral-8.0-gd.lib
vtkFiltersGeneric-8.0-gd.lib
vtkFiltersGeometry-8.0-gd.lib
vtkFiltersHybrid-8.0-gd.lib
vtkFiltersHyperTree-8.0-gd.lib
vtkFiltersImaging-8.0-gd.lib
vtkFiltersModeling-8.0-gd.lib
vtkFiltersParallel-8.0-gd.lib
vtkFiltersParallelImaging-8.0-gd.lib
vtkFiltersPoints-8.0-gd.lib
vtkFiltersProgrammable-8.0-gd.lib
vtkFiltersSelection-8.0-gd.lib
vtkFiltersSMP-8.0-gd.lib
vtkFiltersSources-8.0-gd.lib
vtkFiltersStatistics-8.0-gd.lib
vtkFiltersTexture-8.0-gd.lib
vtkFiltersTopology-8.0-gd.lib
vtkFiltersVerdict-8.0-gd.lib
vtkfreetype-8.0-gd.lib
vtkGeovisCore-8.0-gd.lib
vtkgl2ps-8.0-gd.lib
vtkhdf5-8.0-gd.lib
vtkhdf5_hl-8.0-gd.lib
vtkImagingColor-8.0-gd.lib
vtkImagingCore-8.0-gd.lib
vtkImagingFourier-8.0-gd.lib
vtkImagingGeneral-8.0-gd.lib
vtkImagingHybrid-8.0-gd.lib
vtkImagingMath-8.0-gd.lib
vtkImagingMorphological-8.0-gd.lib
vtkImagingSources-8.0-gd.lib
vtkImagingStatistics-8.0-gd.lib
vtkImagingStencil-8.0-gd.lib
vtkInfovisCore-8.0-gd.lib
vtkInfovisLayout-8.0-gd.lib
vtkInteractionImage-8.0-gd.lib
vtkInteractionStyle-8.0-gd.lib
vtkInteractionWidgets-8.0-gd.lib
vtkIOAMR-8.0-gd.lib
vtkIOCore-8.0-gd.lib
vtkIOEnSight-8.0-gd.lib
vtkIOExodus-8.0-gd.lib
vtkIOExport-8.0-gd.lib
vtkIOExportOpenGL-8.0-gd.lib
vtkIOGeometry-8.0-gd.lib
vtkIOImage-8.0-gd.lib
vtkIOImport-8.0-gd.lib
vtkIOInfovis-8.0-gd.lib
vtkIOLegacy-8.0-gd.lib
vtkIOLSDyna-8.0-gd.lib
vtkIOMINC-8.0-gd.lib
vtkIOMovie-8.0-gd.lib
vtkIONetCDF-8.0-gd.lib
vtkIOParallel-8.0-gd.lib
vtkIOParallelXML-8.0-gd.lib
vtkIOPLY-8.0-gd.lib
vtkIOSQL-8.0-gd.lib
vtkIOTecplotTable-8.0-gd.lib
vtkIOVideo-8.0-gd.lib
vtkIOXML-8.0-gd.lib
vtkIOXMLParser-8.0-gd.lib
vtkjpeg-8.0-gd.lib
vtkjsoncpp-8.0-gd.lib
vtklibharu-8.0-gd.lib
vtklibxml2-8.0-gd.lib
vtklz4-8.0-gd.lib
vtkmetaio-8.0-gd.lib
vtkNetCDF-8.0-gd.lib
vtkoggtheora-8.0-gd.lib
vtkParallelCore-8.0-gd.lib
vtkpng-8.0-gd.lib
vtkproj4-8.0-gd.lib
vtkRenderingAnnotation-8.0-gd.lib
vtkRenderingContext2D-8.0-gd.lib
vtkRenderingContextOpenGL-8.0-gd.lib
vtkRenderingCore-8.0-gd.lib
vtkRenderingFreeType-8.0-gd.lib
vtkRenderingGL2PS-8.0-gd.lib
vtkRenderingImage-8.0-gd.lib
vtkRenderingLabel-8.0-gd.lib
vtkRenderingLIC-8.0-gd.lib
vtkRenderingLOD-8.0-gd.lib
vtkRenderingOpenGL-8.0-gd.lib
vtkRenderingVolume-8.0-gd.lib
vtkRenderingVolumeOpenGL-8.0-gd.lib
vtksqlite-8.0-gd.lib
vtksys-8.0-gd.lib
vtktiff-8.0-gd.lib
vtkverdict-8.0-gd.lib
vtkViewsContext2D-8.0-gd.lib
vtkViewsCore-8.0-gd.lib
vtkViewsInfovis-8.0-gd.lib
vtkzlib-8.0-gd.lib
opengl32.lib

 不要一坨复制过去，会报错

严重性    代码    说明    项目    文件    行 错误    LNK1104    无法打开文件“opengl32.lib opencv_world440d.lib kinect20.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /MANIFEST 

测试代码1出处：PCL安装与配置（win10+VS2015）手把手非常详细-CSDN博客

如果这行报错，删掉就可以——#include "stdafx.h"

#include <iostream>
#include "stdafx.h"
#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/console/parse.h>
using namespace std;
 
int main(int argc, char **argv) {//柱型点云测试
	cout << "Test PCL !" << endl;
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
	uint8_t r(255), g(15), b(15);
	for (float z(-1.0); z <= 1.0; z += 0.05) {//制作柱型点云集
		for (float angle(0.0); angle <= 360.0; angle += 5.0) {
			pcl::PointXYZRGB point;
			point.x = cos(pcl::deg2rad(angle));
			point.y = sin(pcl::deg2rad(angle));
			point.z = z;
			uint32_t rgb = (static_cast<uint32_t>(r) << 16 | static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
			point.rgb = *reinterpret_cast<float*>(&rgb);
			point_cloud_ptr->points.push_back(point);
		}
		if (z < 0.0) {//颜色渐变
			r -= 12;
			g += 12;
		}
		else {
			g -= 12;
			b += 12;
		}
	}
 
	point_cloud_ptr->width = (int)point_cloud_ptr->points.size();
	point_cloud_ptr->height = 1;
 
	pcl::visualization::CloudViewer viewer("pcl—test测试");
 
	viewer.showCloud(point_cloud_ptr);
	while (!viewer.wasStopped()) {};
	return 0;
}

 

 

测试代码2出处:VisualStudio如何配置PCL点云库？_vs2015配置pcl-CSDN博客

#include "stdafx.h"
  
#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);  
}