PCL在VS上的环境配置

目录
  1. 在教程之前
  2. 配置VS环境
    1. 第一次配置
    2. 新建项目的配置
TOC

做本研（本科生研究）写代码的时候，经常会和C++的点云库PCL打交道，但是PCL库在宇宙IDE的VS的环境配置实在是太魔鬼啦，所以写一点东西，下一次说不定会容易些。

配置环境：Win11 + VS2022

在教程之前

首先，我们需要下一个PCL的库，由于年代久远，咱已经忘了是在哪里下的了。不过不要紧，现下一个就好，可能还要单独下一些第三方库，比如OpenNI2什么的。跟着安装程序走就好，只要记得最后自己安装在哪个文件夹就行（最好别丢C盘，文件有点大）

配置VS环境

第一次配置

第一次配置环境时，需要把一些链接放到系统环境变量里，粗暴一点的做法是把相关dll文件放在C盘的System32里，报什么错放什么。

但正常的做法应该是把第三方库和PCL库的bin文件地址写入环境变量。具体的教程网上很多。

新建项目的配置

首先确定在统一的Debug或者Release模式下，然后打开头顶菜单「项目」的「属性」。

在「VC++ 目录」的「包含目录」里敲入PCL以及第三方库的include文件的绝对地址，然后在下面的「库目录」里敲入它们的lib的绝对地址。

然后在「链接器」的「输入」中的「附加依赖项」里添加所有的lib文件名，注意这时候不需要绝对地址，但要带后缀的文件名，可以在文件夹的终端里使用：

1
attrib >>filename.txt

就会在当前文件夹里生成一个filename的txt文件，里面就写了所有的文件信息，用Control+F替换不需要的部分为「无」就可以用来复制粘贴了。

我这里写的有：

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pcl_common.lib
pcl_commond.lib
pcl_features.lib
pcl_featuresd.lib
pcl_filters.lib
pcl_filtersd.lib
pcl_io.lib
pcl_iod.lib
pcl_io_ply.lib
pcl_io_plyd.lib
pcl_kdtree.lib
pcl_kdtreed.lib
pcl_keypoints.lib
pcl_keypointsd.lib
pcl_ml.lib
pcl_mld.lib
pcl_octree.lib
pcl_octreed.lib
pcl_outofcore.lib
pcl_outofcored.lib
pcl_people.lib
pcl_peopled.lib
pcl_recognition.lib
pcl_recognitiond.lib
pcl_registration.lib
pcl_registrationd.lib
pcl_sample_consensus.lib
pcl_sample_consensusd.lib
pcl_search.lib
pcl_searchd.lib
pcl_segmentation.lib
pcl_segmentationd.lib
pcl_stereo.lib
pcl_stereod.lib
pcl_surface.lib
pcl_surfaced.lib
pcl_tracking.lib
pcl_trackingd.lib
pcl_visualization.lib
pcl_visualizationd.lib
vtkcgns-9.1.lib
vtkcgns-9.1d.lib
vtkChartsCore-9.1.lib
vtkChartsCore-9.1d.lib
vtkCommonColor-9.1.lib
vtkCommonColor-9.1d.lib
vtkCommonComputationalGeometry-9.1.lib
vtkCommonComputationalGeometry-9.1d.lib
vtkCommonCore-9.1.lib
vtkCommonCore-9.1d.lib
vtkCommonDataModel-9.1.lib
vtkCommonDataModel-9.1d.lib
vtkCommonExecutionModel-9.1.lib
vtkCommonExecutionModel-9.1d.lib
vtkCommonMath-9.1.lib
vtkCommonMath-9.1d.lib
vtkCommonMisc-9.1.lib
vtkCommonMisc-9.1d.lib
vtkCommonSystem-9.1.lib
vtkCommonSystem-9.1d.lib
vtkCommonTransforms-9.1.lib
vtkCommonTransforms-9.1d.lib
vtkDICOMParser-9.1.lib
vtkDICOMParser-9.1d.lib
vtkDomainsChemistry-9.1.lib
vtkDomainsChemistry-9.1d.lib
vtkDomainsChemistryOpenGL2-9.1.lib
vtkDomainsChemistryOpenGL2-9.1d.lib
vtkdoubleconversion-9.1.lib
vtkdoubleconversion-9.1d.lib
vtkexodusII-9.1.lib
vtkexodusII-9.1d.lib
vtkexpat-9.1.lib
vtkexpat-9.1d.lib
vtkFiltersAMR-9.1.lib
vtkFiltersAMR-9.1d.lib
vtkFiltersCore-9.1.lib
vtkFiltersCore-9.1d.lib
vtkFiltersExtraction-9.1.lib
vtkFiltersExtraction-9.1d.lib
vtkFiltersFlowPaths-9.1.lib
vtkFiltersFlowPaths-9.1d.lib
vtkFiltersGeneral-9.1.lib
vtkFiltersGeneral-9.1d.lib
vtkFiltersGeneric-9.1.lib
vtkFiltersGeneric-9.1d.lib
vtkFiltersGeometry-9.1.lib
vtkFiltersGeometry-9.1d.lib
vtkFiltersHybrid-9.1.lib
vtkFiltersHybrid-9.1d.lib
vtkFiltersHyperTree-9.1.lib
vtkFiltersHyperTree-9.1d.lib
vtkFiltersImaging-9.1.lib
vtkFiltersImaging-9.1d.lib
vtkFiltersModeling-9.1.lib
vtkFiltersModeling-9.1d.lib
vtkFiltersParallel-9.1.lib
vtkFiltersParallel-9.1d.lib
vtkFiltersParallelImaging-9.1.lib
vtkFiltersParallelImaging-9.1d.lib
vtkFiltersPoints-9.1.lib
vtkFiltersPoints-9.1d.lib
vtkFiltersProgrammable-9.1.lib
vtkFiltersProgrammable-9.1d.lib
vtkFiltersSelection-9.1.lib
vtkFiltersSelection-9.1d.lib
vtkFiltersSMP-9.1.lib
vtkFiltersSMP-9.1d.lib
vtkFiltersSources-9.1.lib
vtkFiltersSources-9.1d.lib
vtkFiltersStatistics-9.1.lib
vtkFiltersStatistics-9.1d.lib
vtkFiltersTexture-9.1.lib
vtkFiltersTexture-9.1d.lib
vtkFiltersTopology-9.1.lib
vtkFiltersTopology-9.1d.lib
vtkFiltersVerdict-9.1.lib
vtkFiltersVerdict-9.1d.lib
vtkfmt-9.1.lib
vtkfmt-9.1d.lib
vtkfreetype-9.1.lib
vtkfreetype-9.1d.lib
vtkGeovisCore-9.1.lib
vtkGeovisCore-9.1d.lib
vtkgl2ps-9.1.lib
vtkgl2ps-9.1d.lib
vtkglew-9.1.lib
vtkglew-9.1d.lib
vtkhdf5-9.1.lib
vtkhdf5-9.1d.lib
vtkhdf5_hl-9.1.lib
vtkhdf5_hl-9.1d.lib
vtkImagingColor-9.1.lib
vtkImagingColor-9.1d.lib
vtkImagingCore-9.1.lib
vtkImagingCore-9.1d.lib
vtkImagingFourier-9.1.lib
vtkImagingFourier-9.1d.lib
vtkImagingGeneral-9.1.lib
vtkImagingGeneral-9.1d.lib
vtkImagingHybrid-9.1.lib
vtkImagingHybrid-9.1d.lib
vtkImagingMath-9.1.lib
vtkImagingMath-9.1d.lib
vtkImagingMorphological-9.1.lib
vtkImagingMorphological-9.1d.lib
vtkImagingSources-9.1.lib
vtkImagingSources-9.1d.lib
vtkImagingStatistics-9.1.lib
vtkImagingStatistics-9.1d.lib
vtkImagingStencil-9.1.lib
vtkImagingStencil-9.1d.lib
vtkInfovisCore-9.1.lib
vtkInfovisCore-9.1d.lib
vtkInfovisLayout-9.1.lib
vtkInfovisLayout-9.1d.lib
vtkInteractionImage-9.1.lib
vtkInteractionImage-9.1d.lib
vtkInteractionStyle-9.1.lib
vtkInteractionStyle-9.1d.lib
vtkInteractionWidgets-9.1.lib
vtkInteractionWidgets-9.1d.lib
vtkIOAMR-9.1.lib
vtkIOAMR-9.1d.lib
vtkIOAsynchronous-9.1.lib
vtkIOAsynchronous-9.1d.lib
vtkIOCGNSReader-9.1.lib
vtkIOCGNSReader-9.1d.lib
vtkIOChemistry-9.1.lib
vtkIOChemistry-9.1d.lib
vtkIOCityGML-9.1.lib
vtkIOCityGML-9.1d.lib
vtkIOCONVERGECFD-9.1.lib
vtkIOCONVERGECFD-9.1d.lib
vtkIOCore-9.1.lib
vtkIOCore-9.1d.lib
vtkIOEnSight-9.1.lib
vtkIOEnSight-9.1d.lib
vtkIOExodus-9.1.lib
vtkIOExodus-9.1d.lib
vtkIOExport-9.1.lib
vtkIOExport-9.1d.lib
vtkIOExportGL2PS-9.1.lib
vtkIOExportGL2PS-9.1d.lib
vtkIOExportPDF-9.1.lib
vtkIOExportPDF-9.1d.lib
vtkIOGeometry-9.1.lib
vtkIOGeometry-9.1d.lib
vtkIOHDF-9.1.lib
vtkIOHDF-9.1d.lib
vtkIOImage-9.1.lib
vtkIOImage-9.1d.lib
vtkIOImport-9.1.lib
vtkIOImport-9.1d.lib
vtkIOInfovis-9.1.lib
vtkIOInfovis-9.1d.lib
vtkIOIOSS-9.1.lib
vtkIOIOSS-9.1d.lib
vtkIOLegacy-9.1.lib
vtkIOLegacy-9.1d.lib
vtkIOLSDyna-9.1.lib
vtkIOLSDyna-9.1d.lib
vtkIOMINC-9.1.lib
vtkIOMINC-9.1d.lib
vtkIOMotionFX-9.1.lib
vtkIOMotionFX-9.1d.lib
vtkIOMovie-9.1.lib
vtkIOMovie-9.1d.lib
vtkIONetCDF-9.1.lib
vtkIONetCDF-9.1d.lib
vtkIOOggTheora-9.1.lib
vtkIOOggTheora-9.1d.lib
vtkIOParallel-9.1.lib
vtkIOParallel-9.1d.lib
vtkIOParallelXML-9.1.lib
vtkIOParallelXML-9.1d.lib
vtkIOPLY-9.1.lib
vtkIOPLY-9.1d.lib
vtkIOSegY-9.1.lib
vtkIOSegY-9.1d.lib
vtkIOSQL-9.1.lib
vtkIOSQL-9.1d.lib
vtkioss-9.1.lib
vtkioss-9.1d.lib
vtkIOTecplotTable-9.1.lib
vtkIOTecplotTable-9.1d.lib
vtkIOVeraOut-9.1.lib
vtkIOVeraOut-9.1d.lib
vtkIOVideo-9.1.lib
vtkIOVideo-9.1d.lib
vtkIOXML-9.1.lib
vtkIOXML-9.1d.lib
vtkIOXMLParser-9.1.lib
vtkIOXMLParser-9.1d.lib
vtkjpeg-9.1.lib
vtkjpeg-9.1d.lib
vtkjsoncpp-9.1.lib
vtkjsoncpp-9.1d.lib
vtkkissfft-9.1.lib
vtkkissfft-9.1d.lib
vtklibharu-9.1.lib
vtklibharu-9.1d.lib
vtklibproj-9.1.lib
vtklibproj-9.1d.lib
vtklibxml2-9.1.lib
vtklibxml2-9.1d.lib
vtkloguru-9.1.lib
vtkloguru-9.1d.lib
vtklz4-9.1.lib
vtklz4-9.1d.lib
vtklzma-9.1.lib
vtklzma-9.1d.lib
vtkmetaio-9.1.lib
vtkmetaio-9.1d.lib
vtknetcdf-9.1.lib
vtknetcdf-9.1d.lib
vtkogg-9.1.lib
vtkogg-9.1d.lib
vtkParallelCore-9.1.lib
vtkParallelCore-9.1d.lib
vtkParallelDIY-9.1.lib
vtkParallelDIY-9.1d.lib
vtkpng-9.1.lib
vtkpng-9.1d.lib
vtkpugixml-9.1.lib
vtkpugixml-9.1d.lib
vtkRenderingAnnotation-9.1.lib
vtkRenderingAnnotation-9.1d.lib
vtkRenderingContext2D-9.1.lib
vtkRenderingContext2D-9.1d.lib
vtkRenderingContextOpenGL2-9.1.lib
vtkRenderingContextOpenGL2-9.1d.lib
vtkRenderingCore-9.1.lib
vtkRenderingCore-9.1d.lib
vtkRenderingFreeType-9.1.lib
vtkRenderingFreeType-9.1d.lib
vtkRenderingGL2PSOpenGL2-9.1.lib
vtkRenderingGL2PSOpenGL2-9.1d.lib
vtkRenderingImage-9.1.lib
vtkRenderingImage-9.1d.lib
vtkRenderingLabel-9.1.lib
vtkRenderingLabel-9.1d.lib
vtkRenderingLOD-9.1.lib
vtkRenderingLOD-9.1d.lib
vtkRenderingOpenGL2-9.1.lib
vtkRenderingOpenGL2-9.1d.lib
vtkRenderingSceneGraph-9.1.lib
vtkRenderingSceneGraph-9.1d.lib
vtkRenderingUI-9.1.lib
vtkRenderingUI-9.1d.lib
vtkRenderingVolume-9.1.lib
vtkRenderingVolume-9.1d.lib
vtkRenderingVolumeOpenGL2-9.1.lib
vtkRenderingVolumeOpenGL2-9.1d.lib
vtkRenderingVtkJS-9.1.lib
vtkRenderingVtkJS-9.1d.lib
vtksqlite-9.1.lib
vtksqlite-9.1d.lib
vtksys-9.1.lib
vtksys-9.1d.lib
vtkTestingRendering-9.1.lib
vtkTestingRendering-9.1d.lib
vtktheora-9.1.lib
vtktheora-9.1d.lib
vtktiff-9.1.lib
vtktiff-9.1d.lib
vtkverdict-9.1.lib
vtkverdict-9.1d.lib
vtkViewsContext2D-9.1.lib
vtkViewsContext2D-9.1d.lib
vtkViewsCore-9.1.lib
vtkViewsCore-9.1d.lib
vtkViewsInfovis-9.1.lib
vtkViewsInfovis-9.1d.lib
vtkWrappingTools-9.1.lib
vtkWrappingTools-9.1d.lib
vtkzlib-9.1.lib
vtkzlib-9.1d.lib
opencv_world470.lib

不过这些也会随着版本改变的，还是找自己的比较靠谱。

以后也可以将这些保存为一个属性表，方便下次调用。

之后就可以写一个简单的点云程序试试软件是否能好好运行了：（随便找了一个）

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#include <iostream>
#include <stdlib.h>
#include <stdio.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
 
 
 
 
int main(int argc, char** argv)
{
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
 
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);
 
  // Fill in the cloud data
  cloud->width = 5;
  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 * rand() / (RAND_MAX + 1.0f);
    cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
    cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
  }
 
  std::cerr << "Cloud before projection: " << std::endl;
  for (size_t i = 0; i < cloud->points.size(); ++i)
    std::cerr << "    " << cloud->points[i].x << " "
    << cloud->points[i].y << " "
    << cloud->points[i].z << std::endl;
 
  // Create a set of planar coefficients with X=Y=0,Z=1
  pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
  coefficients->values.resize(4);
  coefficients->values[0] = coefficients->values[1] = 0;
  coefficients->values[2] = 1.0;
  coefficients->values[3] = 0;
 
  // Create the filtering object
  pcl::ProjectInliers<pcl::PointXYZ> proj;
  proj.setModelType(pcl::SACMODEL_PLANE);
  proj.setInputCloud(cloud);
  proj.setModelCoefficients(coefficients);
  proj.filter(*cloud_projected);
 
  std::cerr << "Cloud after projection: " << std::endl;
 
  for (size_t i = 0; i < cloud_projected->points.size(); ++i)
    std::cerr << "    " << cloud_projected->points[i].x << " "
    << cloud_projected->points[i].y << " "
    << cloud_projected->points[i].z << std::endl;
 
  system("pause");
  return (0);
}
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