最近在学习pcl，C++早就忘记了，所以踩了好些坑

不过终于通过了，特此记录下来

环境：win7+pcl1.81+vs2015

1.安装pcl1.81

下载PCL-1.8.1-AllInOne-msvc2015-win64.exe

链接：https://pan.baidu.com/s/1wikg-6uNeBdJf2Ra2EA2fA
提取码：j88f

安装一直下一步，在弹出OpenNI的安装程序

　　将OpenNI的安装路径设置为“PCL_ROOT”下3rdParty\OpenNI2文件夹，如C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2

　　说明：

　　　　安装结束后若提示“路径过长无法添加环境变量”，需要手动加上环境变量

  1. set PCL_ROOT=C:\Program Files\PCL 1.8.
  2. set OPENNI2_INCLUDE64=C:\Program Files\PCL 1.8.\3rdParty\OpenNI2\Include
  3. set OPENNI2_LIB64=C:\Program Files\PCL 1.8.\3rdParty\OpenNI2\Lib
  4. set OPENNI2_REDIST64=C:\Program Files\PCL 1.8.\3rdParty\OpenNI2\Redist
  5. set path=%path%;%PCL_ROOT%\bin\;C:\Program Files\PCL 1.8.\3rdParty\OpenNI2\Tools;C:\Program Files\PCL 1.8.\3rdParty\VTK\bin;

2.应用

　　（1）创建工程pcl

　　文件—》新建—》项目

　　（2）配置，调试—》pcl属性

　　　　A.配置属性—》调试—》环境

　　　　　　path = C:\Program Files\PCL 1.8.1\bin

　

　　　　B.配置属性—》C/C++—》预处理器

　　　　追加

  1. _SCL_SECURE_NO_WARNINGS
  2. _CRT_SECURE_NO_WARNINGS
  3. PCL_NO_PRECOMPILE

　　　　C.配置属性—》VC++目录—》包含目录

　　　　　　C:\Program Files\PCL 1.8.1\include\pcl-1.8

　　　　　　C:\Program Files\PCL 1.8.1\3rdParty\Boost\include\boost-1_64

　　　　　　C:\Program Files\PCL 1.8.1\3rdParty\Eigen\eigen3

　　　　　　C:\Program Files\PCL 1.8.1\3rdParty\FLANN\include

　　　　　　C:\Program Files\PCL 1.8.1\3rdParty\Qhull\include

　　　　　　C:\Program Files\PCL 1.8.1\3rdParty\VTK\include\vtk-8.0

　　　　　　C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Include

　　　　D.配置属性—》VC++目录—》库目录　　

　　　　　　C:\Program Files\PCL 1.8.1\lib

　　　　　　C:\Program Files\PCL 1.8.1\3rdParty\Boost\lib

　　　　　　C:\Program Files\PCL 1.8.1\3rdParty\FLANN\lib

　　　　　　C:\Program Files\PCL 1.8.1\3rdParty\Qhull\lib

　　　　　　C:\Program Files\PCL 1.8.1\3rdParty\VTK\lib

　　　　　　C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Lib

　

　　　　E.配置属性—》链接器—》附加依赖项

　　　　在Debug模式

  1. pcl_common_debug.lib
  2. pcl_features_debug.lib
  3. pcl_filters_debug.lib
  4. pcl_io_debug.lib
  5. pcl_io_ply_debug.lib
  6. pcl_kdtree_debug.lib
  7. pcl_keypoints_debug.lib
  8. pcl_ml_debug.lib
  9. pcl_octree_debug.lib
  10. pcl_outofcore_debug.lib
  11. pcl_people_debug.lib
  12. pcl_recognition_debug.lib
  13. pcl_registration_debug.lib
  14. pcl_sample_consensus_debug.lib
  15. pcl_search_debug.lib
  16. pcl_segmentation_debug.lib
  17. pcl_stereo_debug.lib
  18. pcl_surface_debug.lib
  19. pcl_tracking_debug.lib
  20. pcl_visualization_debug.lib
  21. libboost_atomic-vc140-mt-gd-1_64.lib
  22. libboost_chrono-vc140-mt-gd-1_64.lib
  23. libboost_container-vc140-mt-gd-1_64.lib
  24. libboost_context-vc140-mt-gd-1_64.lib
  25. libboost_coroutine-vc140-mt-gd-1_64.lib
  26. libboost_date_time-vc140-mt-gd-1_64.lib
  27. libboost_exception-vc140-mt-gd-1_64.lib
  28. libboost_filesystem-vc140-mt-gd-1_64.lib
  29. libboost_graph-vc140-mt-gd-1_64.lib
  30. libboost_iostreams-vc140-mt-gd-1_64.lib
  31. libboost_locale-vc140-mt-gd-1_64.lib
  32. libboost_log-vc140-mt-gd-1_64.lib
  33. libboost_log_setup-vc140-mt-gd-1_64.lib
  34. libboost_math_c99-vc140-mt-gd-1_64.lib
  35. libboost_math_c99f-vc140-mt-gd-1_64.lib
  36. libboost_math_c99l-vc140-mt-gd-1_64.lib
  37. libboost_math_tr1-vc140-mt-gd-1_64.lib
  38. libboost_math_tr1f-vc140-mt-gd-1_64.lib
  39. libboost_math_tr1l-vc140-mt-gd-1_64.lib
  40. libboost_mpi-vc140-mt-gd-1_64.lib
  41. libboost_prg_exec_monitor-vc140-mt-gd-1_64.lib
  42. libboost_program_options-vc140-mt-gd-1_64.lib
  43. libboost_random-vc140-mt-gd-1_64.lib
  44. libboost_regex-vc140-mt-gd-1_64.lib
  45. libboost_serialization-vc140-mt-gd-1_64.lib
  46. libboost_signals-vc140-mt-gd-1_64.lib
  47. libboost_system-vc140-mt-gd-1_64.lib
  48. libboost_test_exec_monitor-vc140-mt-gd-1_64.lib
  49. libboost_thread-vc140-mt-gd-1_64.lib
  50. libboost_timer-vc140-mt-gd-1_64.lib
  51. libboost_unit_test_framework-vc140-mt-gd-1_64.lib
  52. libboost_wave-vc140-mt-gd-1_64.lib
  53. libboost_wserialization-vc140-mt-gd-1_64.lib
  54. flann-gd.lib
  55. flann_s-gd.lib
  56. flann_cpp-gd.lib
  57. flann_cpp_s-gd.lib
  58. qhull_d.lib
  59. qhull_p_d.lib
  60. qhull_r_d.lib
  61. qhullcpp_d.lib
  62. qhullstatic_d.lib
  63. qhullstatic_r_d.lib
  64. vtkalglib-8.0-gd.lib
  65. vtkChartsCore-8.0-gd.lib
  66. vtkCommonColor-8.0-gd.lib
  67. vtkCommonComputationalGeometry-8.0-gd.lib
  68. vtkCommonCore-8.0-gd.lib
  69. vtkCommonDataModel-8.0-gd.lib
  70. vtkCommonExecutionModel-8.0-gd.lib
  71. vtkCommonMath-8.0-gd.lib
  72. vtkCommonMisc-8.0-gd.lib
  73. vtkCommonSystem-8.0-gd.lib
  74. vtkCommonTransforms-8.0-gd.lib
  75. vtkDICOMParser-8.0-gd.lib
  76. vtkDomainsChemistry-8.0-gd.lib
  77. vtkexoIIc-8.0-gd.lib
  78. vtkexpat-8.0-gd.lib
  79. vtkFiltersAMR-8.0-gd.lib
  80. vtkFiltersCore-8.0-gd.lib
  81. vtkFiltersExtraction-8.0-gd.lib
  82. vtkFiltersFlowPaths-8.0-gd.lib
  83. vtkFiltersGeneral-8.0-gd.lib
  84. vtkFiltersGeneric-8.0-gd.lib
  85. vtkFiltersGeometry-8.0-gd.lib
  86. vtkFiltersHybrid-8.0-gd.lib
  87. vtkFiltersHyperTree-8.0-gd.lib
  88. vtkFiltersImaging-8.0-gd.lib
  89. vtkFiltersModeling-8.0-gd.lib
  90. vtkFiltersParallel-8.0-gd.lib
  91. vtkFiltersParallelImaging-8.0-gd.lib
  92. vtkFiltersPoints-8.0-gd.lib
  93. vtkFiltersProgrammable-8.0-gd.lib
  94. vtkFiltersSelection-8.0-gd.lib
  95. vtkFiltersSMP-8.0-gd.lib
  96. vtkFiltersSources-8.0-gd.lib
  97. vtkFiltersStatistics-8.0-gd.lib
  98. vtkFiltersTexture-8.0-gd.lib
  99. vtkFiltersTopology-8.0-gd.lib
  100. vtkFiltersVerdict-8.0-gd.lib
  101. vtkfreetype-8.0-gd.lib
  102. vtkGeovisCore-8.0-gd.lib
  103. vtkgl2ps-8.0-gd.lib
  104. vtkhdf5-8.0-gd.lib
  105. vtkhdf5_hl-8.0-gd.lib
  106. vtkImagingColor-8.0-gd.lib
  107. vtkImagingCore-8.0-gd.lib
  108. vtkImagingFourier-8.0-gd.lib
  109. vtkImagingGeneral-8.0-gd.lib
  110. vtkImagingHybrid-8.0-gd.lib
  111. vtkImagingMath-8.0-gd.lib
  112. vtkImagingMorphological-8.0-gd.lib
  113. vtkImagingSources-8.0-gd.lib
  114. vtkImagingStatistics-8.0-gd.lib
  115. vtkImagingStencil-8.0-gd.lib
  116. vtkInfovisCore-8.0-gd.lib
  117. vtkInfovisLayout-8.0-gd.lib
  118. vtkInteractionImage-8.0-gd.lib
  119. vtkInteractionStyle-8.0-gd.lib
  120. vtkInteractionWidgets-8.0-gd.lib
  121. vtkIOAMR-8.0-gd.lib
  122. vtkIOCore-8.0-gd.lib
  123. vtkIOEnSight-8.0-gd.lib
  124. vtkIOExodus-8.0-gd.lib
  125. vtkIOExport-8.0-gd.lib
  126. vtkIOExportOpenGL-8.0-gd.lib
  127. vtkIOGeometry-8.0-gd.lib
  128. vtkIOImage-8.0-gd.lib
  129. vtkIOImport-8.0-gd.lib
  130. vtkIOInfovis-8.0-gd.lib
  131. vtkIOLegacy-8.0-gd.lib
  132. vtkIOLSDyna-8.0-gd.lib
  133. vtkIOMINC-8.0-gd.lib
  134. vtkIOMovie-8.0-gd.lib
  135. vtkIONetCDF-8.0-gd.lib
  136. vtkIOParallel-8.0-gd.lib
  137. vtkIOParallelXML-8.0-gd.lib
  138. vtkIOPLY-8.0-gd.lib
  139. vtkIOSQL-8.0-gd.lib
  140. vtkIOTecplotTable-8.0-gd.lib
  141. vtkIOVideo-8.0-gd.lib
  142. vtkIOXML-8.0-gd.lib
  143. vtkIOXMLParser-8.0-gd.lib
  144. vtkjpeg-8.0-gd.lib
  145. vtkjsoncpp-8.0-gd.lib
  146. vtklibharu-8.0-gd.lib
  147. vtklibxml2-8.0-gd.lib
  148. vtklz4-8.0-gd.lib
  149. vtkmetaio-8.0-gd.lib
  150. vtknetcdf_c++-gd.lib
  151. vtkNetCDF-8.0-gd.lib
  152. vtkoggtheora-8.0-gd.lib
  153. vtkParallelCore-8.0-gd.lib
  154. vtkpng-8.0-gd.lib
  155. vtkproj4-8.0-gd.lib
  156. vtkRenderingAnnotation-8.0-gd.lib
  157. vtkRenderingContext2D-8.0-gd.lib
  158. vtkRenderingContextOpenGL-8.0-gd.lib
  159. vtkRenderingCore-8.0-gd.lib
  160. vtkRenderingFreeType-8.0-gd.lib
  161. vtkRenderingGL2PS-8.0-gd.lib
  162. vtkRenderingImage-8.0-gd.lib
  163. vtkRenderingLabel-8.0-gd.lib
  164. vtkRenderingLIC-8.0-gd.lib
  165. vtkRenderingLOD-8.0-gd.lib
  166. vtkRenderingOpenGL-8.0-gd.lib
  167. vtkRenderingVolume-8.0-gd.lib
  168. vtkRenderingVolumeOpenGL-8.0-gd.lib
  169. vtksqlite-8.0-gd.lib
  170. vtksys-8.0-gd.lib
  171. vtktiff-8.0-gd.lib
  172. vtkverdict-8.0-gd.lib
  173. vtkViewsContext2D-8.0-gd.lib
  174. vtkViewsCore-8.0-gd.lib
  175. vtkViewsInfovis-8.0-gd.lib
  176. vtkzlib-8.0-gd.lib
  177. OpenNI2.lib

View Content

　　　　在Release模式

  1. pcl_common_release.lib
  2. pcl_features_release.lib
  3. pcl_filters_release.lib
  4.  
  5. pcl_io_ply_release.lib
  6. pcl_io_release.lib
  7. pcl_kdtree_release.lib
  8. pcl_keypoints_release.lib
  9. pcl_ml_release.lib
  10. pcl_octree_release.lib
  11. pcl_outofcore_release.lib
  12. pcl_people_release.lib
  13. pcl_recognition_release.lib
  14. pcl_registration_release.lib
  15. pcl_sample_consensus_release.lib
  16. pcl_search_release.lib
  17. pcl_segmentation_release.lib
  18. pcl_stereo_release.lib
  19. pcl_surface_release.lib
  20. pcl_tracking_release.lib
  21. pcl_visualization_release.lib
  22. libboost_atomic-vc140-mt-1_64.lib
  23. libboost_chrono-vc140-mt-1_64.lib
  24. libboost_container-vc140-mt-1_64.lib
  25. libboost_context-vc140-mt-1_64.lib
  26. libboost_coroutine-vc140-mt-1_64.lib
  27. libboost_date_time-vc140-mt-1_64.lib
  28. libboost_exception-vc140-mt-1_64.lib
  29. libboost_filesystem-vc140-mt-1_64.lib
  30. libboost_graph-vc140-mt-1_64.lib
  31. libboost_iostreams-vc140-mt-1_64.lib
  32. libboost_locale-vc140-mt-1_64.lib
  33. libboost_log-vc140-mt-1_64.lib
  34. libboost_log_setup-vc140-mt-1_64.lib
  35. libboost_math_c99-vc140-mt-1_64.lib
  36. libboost_math_c99f-vc140-mt-1_64.lib
  37. libboost_math_c99l-vc140-mt-1_64.lib
  38. libboost_math_tr1-vc140-mt-1_64.lib
  39. libboost_math_tr1f-vc140-mt-1_64.lib
  40. libboost_math_tr1l-vc140-mt-1_64.lib
  41. libboost_mpi-vc140-mt-1_64.lib
  42. libboost_prg_exec_monitor-vc140-mt-1_64.lib
  43. libboost_program_options-vc140-mt-1_64.lib
  44. libboost_random-vc140-mt-1_64.lib
  45. libboost_regex-vc140-mt-1_64.lib
  46. libboost_serialization-vc140-mt-1_64.lib
  47. libboost_signals-vc140-mt-1_64.lib
  48. libboost_system-vc140-mt-1_64.lib
  49. libboost_test_exec_monitor-vc140-mt-1_64.lib
  50. libboost_thread-vc140-mt-1_64.lib
  51. libboost_timer-vc140-mt-1_64.lib
  52. libboost_unit_test_framework-vc140-mt-1_64.lib
  53. libboost_wave-vc140-mt-1_64.lib
  54. libboost_wserialization-vc140-mt-1_64.lib
  55. flann.lib
  56. flann_cpp.lib
  57. flann_cpp_s.lib
  58. flann_s.lib
  59. qhull.lib
  60. qhull_p.lib
  61. qhull_r.lib
  62. qhullcpp.lib
  63. qhullstatic.lib
  64. qhullstatic_r.lib
  65. vtkalglib-8.0.lib
  66. vtkChartsCore-8.0.lib
  67. vtkCommonColor-8.0.lib
  68. vtkCommonComputationalGeometry-8.0.lib
  69. vtkCommonCore-8.0.lib
  70. vtkCommonDataModel-8.0.lib
  71. vtkCommonExecutionModel-8.0.lib
  72. vtkCommonMath-8.0.lib
  73. vtkCommonMisc-8.0.lib
  74. vtkCommonSystem-8.0.lib
  75. vtkCommonTransforms-8.0.lib
  76. vtkDICOMParser-8.0.lib
  77. vtkDomainsChemistry-8.0.lib
  78. vtkexoIIc-8.0.lib
  79. vtkexpat-8.0.lib
  80. vtkFiltersAMR-8.0.lib
  81. vtkFiltersCore-8.0.lib
  82. vtkFiltersExtraction-8.0.lib
  83. vtkFiltersFlowPaths-8.0.lib
  84. vtkFiltersGeneral-8.0.lib
  85. vtkFiltersGeneric-8.0.lib
  86. vtkFiltersGeometry-8.0.lib
  87. vtkFiltersHybrid-8.0.lib
  88. vtkFiltersHyperTree-8.0.lib
  89. vtkFiltersImaging-8.0.lib
  90. vtkFiltersModeling-8.0.lib
  91. vtkFiltersParallel-8.0.lib
  92. vtkFiltersParallelImaging-8.0.lib
  93. vtkFiltersPoints-8.0.lib
  94. vtkFiltersProgrammable-8.0.lib
  95. vtkFiltersSelection-8.0.lib
  96. vtkFiltersSMP-8.0.lib
  97. vtkFiltersSources-8.0.lib
  98. vtkFiltersStatistics-8.0.lib
  99. vtkFiltersTexture-8.0.lib
  100. vtkFiltersTopology-8.0.lib
  101. vtkFiltersVerdict-8.0.lib
  102. vtkfreetype-8.0.lib
  103. vtkGeovisCore-8.0.lib
  104. vtkgl2ps-8.0.lib
  105. vtkhdf5-8.0.lib
  106. vtkhdf5_hl-8.0.lib
  107. vtkImagingColor-8.0.lib
  108. vtkImagingCore-8.0.lib
  109. vtkImagingFourier-8.0.lib
  110. vtkImagingGeneral-8.0.lib
  111. vtkImagingHybrid-8.0.lib
  112. vtkImagingMath-8.0.lib
  113. vtkImagingMorphological-8.0.lib
  114. vtkImagingSources-8.0.lib
  115. vtkImagingStatistics-8.0.lib
  116. vtkImagingStencil-8.0.lib
  117. vtkInfovisCore-8.0.lib
  118. vtkInfovisLayout-8.0.lib
  119. vtkInteractionImage-8.0.lib
  120. vtkInteractionStyle-8.0.lib
  121. vtkInteractionWidgets-8.0.lib
  122. vtkIOAMR-8.0.lib
  123. vtkIOCore-8.0.lib
  124. vtkIOEnSight-8.0.lib
  125. vtkIOExodus-8.0.lib
  126. vtkIOExport-8.0.lib
  127. vtkIOExportOpenGL-8.0.lib
  128. vtkIOGeometry-8.0.lib
  129. vtkIOImage-8.0.lib
  130. vtkIOImport-8.0.lib
  131. vtkIOInfovis-8.0.lib
  132. vtkIOLegacy-8.0.lib
  133. vtkIOLSDyna-8.0.lib
  134. vtkIOMINC-8.0.lib
  135. vtkIOMovie-8.0.lib
  136. vtkIONetCDF-8.0.lib
  137. vtkIOParallel-8.0.lib
  138. vtkIOParallelXML-8.0.lib
  139. vtkIOPLY-8.0.lib
  140. vtkIOSQL-8.0.lib
  141. vtkIOTecplotTable-8.0.lib
  142. vtkIOVideo-8.0.lib
  143. vtkIOXML-8.0.lib
  144. vtkIOXMLParser-8.0.lib
  145. vtkjpeg-8.0.lib
  146. vtkjsoncpp-8.0.lib
  147. vtklibharu-8.0.lib
  148. vtklibxml2-8.0.lib
  149. vtklz4-8.0.lib
  150. vtkmetaio-8.0.lib
  151. vtknetcdf_c++.lib
  152. vtkNetCDF-8.0.lib
  153. vtkoggtheora-8.0.lib
  154. vtkParallelCore-8.0.lib
  155. vtkpng-8.0.lib
  156. vtkproj4-8.0.lib
  157. vtkRenderingAnnotation-8.0.lib
  158. vtkRenderingContext2D-8.0.lib
  159. vtkRenderingContextOpenGL-8.0.lib
  160. vtkRenderingCore-8.0.lib
  161. vtkRenderingFreeType-8.0.lib
  162. vtkRenderingGL2PS-8.0.lib
  163. vtkRenderingImage-8.0.lib
  164. vtkRenderingLabel-8.0.lib
  165. vtkRenderingLIC-8.0.lib
  166. vtkRenderingLOD-8.0.lib
  167. vtkRenderingOpenGL-8.0.lib
  168. vtkRenderingVolume-8.0.lib
  169. vtkRenderingVolumeOpenGL-8.0.lib
  170. vtksqlite-8.0.lib
  171. vtksys-8.0.lib
  172. vtktiff-8.0.lib
  173. vtkverdict-8.0.lib
  174. vtkViewsContext2D-8.0.lib
  175. vtkViewsCore-8.0.lib
  176. vtkViewsInfovis-8.0.lib
  177. vtkzlib-8.0.lib
  178. OpenNI2.lib

View Content

　　说明：

　　　　debug的比release的文件名多 -gd，_d是不同库中debug的命名规则

　　　　其中文件名来自 PCL 1.8.1\lib，PCL 1.8.1\3rdParty\Boost\lib，PCL 1.8.1\3rdParty\VTK\lib，PCL 1.8.1\3rdParty\FLANN\lib，PCL 1.8.1\3rdParty\OpenNI2\Lib，PCL 1.8.1\3rdParty\Qhull\lib

　　（3）测试

使用点云生成点，并输出

  1. #include<iostream>
  2. #include<pcl/io/pcd_io.h>
  3. #include<pcl/point_types.h>
  4.  
  5. int main(int argc, char** argv) {
  6.     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
  7.  
  8.     //Fill in the cloud data
  9.     cloud->width = ;
  10.     cloud->height = ;
  11.     cloud->points.resize(cloud->width*cloud->height);
  12.     for (size_t i = ; i < cloud->points.size(); ++i) {
  13.         cloud->points[i].x =  * rand() / (RAND_MAX + 1.0f);
  14.         cloud->points[i].y =  * rand() / (RAND_MAX + 1.0f);
  15.         cloud->points[i].z =  * rand() / (RAND_MAX + 1.0f);
  16.     }
  17.     std::cout << "Cloud before projection:" << std::endl;
  18.     for (size_t i = ; i < cloud->points.size(); ++i) {
  19.         std::cout << "      " << cloud->points[i].x << "   " << cloud->points[i].y << "   " << cloud->points[i].z << "   " << std::endl;
  20.     }
  21.     system("pause");
  22.     return ;
  23. }

过滤器

  1. #include<iostream>
  2. #include<pcl/io/pcd_io.h>
  3. #include<pcl/point_types.h>
  4. #include<pcl/ModelCoefficients.h>
  5. #include<pcl/filters/project_inliers.h>
  6. int main(int argc, char** argv) {
  7.     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
  8.     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);
  9.     //Fill in the cloud data
  10.     cloud->width = ;
  11.     cloud->height = ;
  12.     cloud->points.resize(cloud->width*cloud->height);
  13.     for (size_t i = ; i < cloud->points.size(); ++i) {
  14.         cloud->points[i].x =  * rand() / (RAND_MAX + 1.0f);
  15.         cloud->points[i].y =  * rand() / (RAND_MAX + 1.0f);
  16.         cloud->points[i].z =  * rand() / (RAND_MAX + 1.0f);
  17.     }
  18.     std::cerr << "Cloud before projection:" << std::endl;
  19.     for (size_t i = ; i < cloud->points.size(); ++i) {
  20.         std::cerr << "      " << cloud->points[i].x << "   " << cloud->points[i].y << "   " << cloud->points[i].z << "   " << std::endl;
  21.     }
  22.     // Create a set of planar coefficients with X=Y=0,Z=1
  23.     pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
  24.     coefficients->values.resize();
  25.     coefficients->values[] = coefficients->values[] = ;
  26.     coefficients->values[] = 1.0;
  27.     coefficients->values[] = ;
  28.     // Create the filtering object
  29.     pcl::ProjectInliers<pcl::PointXYZ>proj;
  30.     proj.setModelType(pcl::SACMODEL_PLANE);
  31.     proj.setInputCloud(cloud);
  32.     proj.setModelCoefficients(coefficients);
  33.     proj.filter(*cloud_projected);
  34.     std::cerr << "Cloud after projection: " << std::endl;
  35.     for (size_t i = ; i < cloud_projected->points.size(); ++i) {
  36.         std::cerr << "      " << cloud_projected->points[i].x << "   " << cloud_projected->points[i].y << "   " << cloud_projected->points[i].z << "   " << std::endl;
  37.     }
  38.     system("pause");
  39.     return ;
  40. }

优化将点展示出来

  1. #include<iostream>
  2. #include<pcl/point_cloud.h>
  3. #include<pcl/point_types.h>
  4. #include <pcl/visualization/pcl_visualizer.h>
  5. int main() {
  6.     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
  7.     //设置点云大小
  8.     cloud->points.resize();
  9.     //填充点云数据
  10.     for (size_t i = ; i < cloud->points.size(); ++i)
  11.     {
  12.         cloud->points[i].x =  * rand() / (RAND_MAX + 1.0f);
  13.         cloud->points[i].y =  * rand() / (RAND_MAX + 1.0f);
  14.         cloud->points[i].z =  * rand() / (RAND_MAX + 1.0f);
  15.     }
  16.     //声明视窗
  17.     boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
  18.     //设置背景色
  19.     viewer->setBackgroundColor(1.0f, 0.5f, 1.0f);
  20.     //预处理点云颜色
  21.     pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> magenta(cloud, , , );
  22.     //把点云加载到视窗
  23.     viewer->addPointCloud(cloud, magenta, "cloud");
  24.     //设置点云大小
  25.     viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, , "cloud");
  26.     //显示
  27.     viewer->spin();
  28. }

注：

　　如果出现以下错误

　　　　（1）LNK1112 模块计算机类型“x64”与目标计算机类型“X86”冲突解决方案

　

　

　　生成—配置管理器

　　　　　　补充：

　　　　　　　　需要重新配置，即2（2）部分的操作

　 　　　（2）C1010 在查找预编译头时遇到意外的文件结尾

　　　　（3）C4996 'pcl::SAC_SAMPLE_SIZE': This map is deprecated and is kept only to prevent breaking existing user code.

　　　　　　打开项目属性页>C/C++>常规>SDL检查(设置为否)

　　　　　　重新编译，原先的错误信息变成了警告。

通过pcl的学习，教训也是很大的：

　　不要偷懒，不要整个的复制代码，要认真读，认真看，不要跳跃，一定要沉下心来，沉下心来，要认真

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