在VSCode中使用PCL

Lemon-GPU / 2024-08-07 / 原文

我要被气死了。

前提条件：
CMake
MSVC 2022（务必装这个）
VSCode以及相关的C++，CMake插件等

安装步骤：

去PCL的Release这里下载类似“PCL-1.14.1-AllInOne-msvc2022-win64.exe”名称的exe，安装过程中要求为所有用户写入环境变量。
找个地方新建空文件夹，新建这些文件，注意文件名也要一样
pcd_write.cpp：

// pcd_write.cpp
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

int main()
{
  pcl::PointCloud<pcl::PointXYZ> cloud;

  // Fill in the cloud data
  cloud.width    = 5;
  cloud.height   = 1;
  cloud.is_dense = false;
  cloud.resize (cloud.width * cloud.height);

  for (auto& point: cloud)
  {
    point.x = 1024 * rand () / (RAND_MAX + 1.0f);
    point.y = 1024 * rand () / (RAND_MAX + 1.0f);
    point.z = 1024 * rand () / (RAND_MAX + 1.0f);
  }

  pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
  std::cerr << "Saved " << cloud.size () << " data points to test_pcd.pcd." << std::endl;

  for (const auto& point: cloud)
    std::cerr << "    " << point.x << " " << point.y << " " << point.z << std::endl;

  return (0);
}

CMakeLists.txt:

cmake_minimum_required(VERSION 3.13 FATAL_ERROR)
project(MY_GRAND_PROJECT)
find_package(PCL 1.4 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(pcd_write_test pcd_write.cpp)
target_link_libraries(pcd_write_test ${PCL_LIBRARIES})

message(STATUS "PCL_INCLUDE_DIRS: ${PCL_INCLUDE_DIRS}")

打开VSCode中的设置，直接搜索“cmake generator”，然后如图填入东西：
保存后开始CMake编译，然后你应该会看在输出看到这个：

......
[cmake] -- PCL_INCLUDE_DIRS: C:/Program Files/PCL 1.14.1/include/pcl-1.14;C:/Program Files/PCL 1.14.1/3rdParty/Eigen3/include/eigen3;C:/Program Files/PCL 1.14.1/3rdParty/Boost/include/boost-1_84;C:/Program Files/OpenNI2/Include
......

把这些目录全部复制到剪贴板