Brief

PCL (Point Cloud Library) as an excellent point cloud library, is now open and integrated efficient algorithm many outstanding scholars, it is worth further study. This will be Windows 10 and Visual Studio 2017 development environment, for example, explain how to configure point cloud library.

surroundings

Windows
Visual Studio

Ready to work

Install Visual Studio

Tutorial using Visual Studio 2017 Enterprise version specific installation from other Web sites to search, not be described herein.

Installation PCL 1.8

First go to https://github.com/PointCloudLibrary/pcl/releases installation package Download cloud library, what we need is AllInOneand pdbtwo packages. Deadline for this tutorial releases, the latest version is 1.8.1 point cloud library, as shown below.

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Here you need to download the appropriate version (the number of bits of the operating system, as well as Visual Studio version) according to their own machines. I choose here PCL-1.8.1-AllInOne-msvc2017-win64.exeand pcl-1.8.1-pdb-msvc2017-win64.zipthe two files.

These two packages depending on the speed, the download time is different, it can be patient.

After the download is complete, we run the downloaded PCL-1.8.1-AllInOne-msvc2017-win64.exefile to install. Below shows several views of several steps necessary to the next step directly without making instructions to configure or according to their preferences.

When I related this type of software installed in the library will try to avoid with spaces in the path, because some software may cause various problems due to space when the inspection path. So I put the default path spaces replaced by an underscore _. Of course, Windows default Program Files directory disregard this rule, after all, the name of the directory path to Microsoft's own set of problems do not occur. Therefore, the path I set here is C:\Program Files\PCL_1_8_1.

Here you need to configure additional libraries to be installed, if they unsure in the end there is no other library-related software installed, then all checked, otherwise due to the lack of library point cloud library will not work.

Then click 安装can begin lengthy installation process.

After some time, a window will pop up to install a OpenNI2, in which case all the way to the next step directly like, but we must remember the installation path set up their own. Because the point cloud will in the process of installing all third-party libraries have been installed in the point cloud installation directory 3rdpartyfolder. Therefore, in order to keep tidy folders, here I also put OpenNI2 installed in the 3rdpartyfolder, that is C:\Program Files\PCL_1_8_1\3rdParty\OpenNI2.

OpenNI2 after the end of the installation to complete the full installation point cloud library, look at the installation directory and 3rdpartylook under the folder as shown below:

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You can see, I put all the third-party libraries have been installed into the 3rdpartyfolder.

Environment variable configuration

After the installation is complete point cloud library, there is a more important step is to configure Windows environment variables.

Right-click 此电脑（我的电脑，计算机，这台电脑等名字）, select 属性, then click on the left side 高级系统设置, and then select the 高级tab, click on the following 环境变量...button, it will open the configuration window environment variable.

At this point, we can see that the root of the PCL and OpenNI2 directory has been added to the 系统变量middle.

We then double-click 系统变量in Path, and then added to the following directory Path(note that the last path OpenNI2, to their own path and just installed the same job):

%PCL_ROOT%\bin
%PCL_ROOT%\3rdParty\VTK\bin
%PCL_ROOT%\3rdParty\FLANN\bin
%OPENNI2_REDIST64%
%PCL_ROOT%\3rdParty\Qhull\bin
%PCL_ROOT%\3rdParty\OpenNI2\Tools

If the computer's operating system is Windows 10, then a path above a few copy came down, and then added to the Pathpane can be very convenient, as shown below:

If other versions of Windows, you need to take several paths above written in this form below, and then superimposed Pathbehind environment variables (specific practices can go to search Windows 7 configuration environment variable):

1	%PCL_ROOT%\bin;%PCL_ROOT%\3rdParty\VTK\bin;%PCL_ROOT%\3rdParty\FLANN\bin;%OPENNI2_REDIST64%;%PCL_ROOT%\3rdParty\Qhull\bin;%PCL_ROOT%\3rdParty\OpenNI2\Tools

After the above steps done, restart the computer to apply environment variables.

Visual Studio development environment configuration

Visual Studio environment configuration is too much trouble, often a bunch of errors. Therefore, the following steps need to carefully follow the steps to do.

Visual Studio compiler provides two modes: Debug and Release. Debug mode, the generated application will insert a lot of debugging instructions, so its easy to debug, but a significant reduction in the speed of the program; Release mode will increase the speed of the program, but more difficult to debug relatively few (specific Please go to the difference between their own Baidu or Google). In certain requirements, may need to process large amounts of data, it is necessary to use Release pattern generator applications. This tutorial modes are configurable to meet different needs.

First, open Visual Studio, and then create a new C ++ project, C ++ project name I created here is pcl_test. DETAILED creation process detailed description is omitted, as shown below:

Next, right-click 解决方案管理器in pcl_test, then select 属性. Then he opened the Project Properties window.

Let's take a configuration Debug mode. First, the top selection window Debug, then choose the download point cloud library when the platform of choice, I choose here x64(note that this must not wrong), as shown below:

Then click on the left side of the window VC++ 目录, and then click the right 包含目录pull-down menu to the right, select 编辑...the following directory filled window:

C:\Program Files\PCL_1_8_1\3rdParty\OpenNI2\Include
C:\Program Files\PCL_1_8_1\include\pcl-1.8
C:\Program Files\PCL_1_8_1\3rdParty\VTK\include\vtk-8.0
C:\Program Files\PCL_1_8_1\3rdParty\QHull\include
C:\Program Files\PCL_1_8_1\3rdParty\FLANN\include
C: \ Program Files \ PCL_1_8_1 \ 3rdParty \ Private \ own3
C:\Program Files\PCL_1_8_1\3rdParty\Boost\include\boost-1_64

Note : Here C:\Program Files\PCL_1_8_1is the path just installed point cloud library, modify the path just installed point cloud. Also note that the problem highlighted version of the font, you need to open the relevant directory to be checked. For example, I have here is vtk 8.0, and boost a 1.64release. Once configured, click 确定to the following figure:

Then click on the right side of 库目录the right side of the drop-down menu, select 编辑..., fill in the following directory window:

C:\Program Files\PCL_1_8_1\3rdParty\OpenNI2\Lib
C:\Program Files\PCL_1_8_1\3rdParty\VTK\lib
C:\Program Files\PCL_1_8_1\3rdParty\Qhull\lib
C:\Program Files\PCL_1_8_1\3rdParty\FLANN\lib
C:\Program Files\PCL_1_8_1\3rdParty\Boost\lib
C:\Program Files\PCL_1_8_1\lib

Also note path problem, after clicking configured 确定to, as shown below:

Then click on the property page C/C++at the 预处理器click of the right side of 预处理器定义the right side of the drop-down menu, select 编辑..., add the following two definitions:

1 2	_SCL_SECURE_NO_WARNINGS _CRT_SECURE_NO_WARNINGS

Then click on 预编译头the right side of the 预编译头set 不使用预编译头. This setting can decide according to their own habits, it can be omitted.

Then click on the Properties page 链接器in 输入, click on the right side of 附加依赖项the right side of the drop-down menu, select 编辑...the file name to fill in the following window:

vtknetcdf_c++-gd.lib
pcl_common_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_io_ply_debug.lib
pcl_io_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-vc141-mt-gd-1_64.lib
libboost_bzip2-vc141-mt-gd-1_64.lib
libboost_chrono-vc141-mt-gd-1_64.lib
libboost_container-vc141-mt-gd-1_64.lib
libboost_context-vc141-mt-gd-1_64.lib
libboost_coroutine-vc141-mt-gd-1_64.lib
libboost_date_time-vc141-mt-gd-1_64.lib
libboost_exception-vc141-mt-gd-1_64.lib
libboost_fiber-vc141-mt-gd-1_64.lib
libboost_filesystem-vc141-mt-gd-1_64.lib
libboost_graph-vc141-mt-gd-1_64.lib
libboost_graph_parallel-vc141-mt-gd-1_64.lib
libboost_iostreams-vc141-mt-gd-1_64.lib
libboost_locale-vc141-mt-gd-1_64.lib
libboost_log-vc141-mt-gd-1_64.lib
libboost_log_setup-vc141-mt-gd-1_64.lib
libboost_math_c99-vc141-mt-gd-1_64.lib
libboost_math_c99f-vc141-mt-gd-1_64.lib
libboost_math_c99l-vc141-mt-gd-1_64.lib
libboost_math_tr1-vc141-mt-gd-1_64.lib
libboost_math_tr1f-vc141-mt-gd-1_64.lib
libboost_math_tr1l-vc141-mt-gd-1_64.lib
libboost_mpi-vc141-mt-gd-1_64.lib
libboost_numpy3-vc141-mt-gd-1_64.lib
libboost_numpy-vc141-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib
libboost_program_options-vc141-mt-gd-1_64.lib
libboost_python3-vc141-mt-gd-1_64.lib
libboost_python-vc141-mt-gd-1_64.lib
libboost_random-vc141-mt-gd-1_64.lib
libboost_regex-vc141-mt-gd-1_64.lib
libboost_serialization-vc141-mt-gd-1_64.lib
libboost_signals-vc141-mt-gd-1_64.lib
libboost_system-vc141-mt-gd-1_64.lib
libboost_test_exec_monitor-vc141-mt-gd-1_64.lib
libboost_thread-vc141-mt-gd-1_64.lib
libboost_timer-vc141-mt-gd-1_64.lib
libboost_type_erasure-vc141-mt-gd-1_64.lib
libboost_unit_test_framework-vc141-mt-gd-1_64.lib
libboost_wave-vc141-mt-gd-1_64.lib
libboost_wserialization-vc141-mt-gd-1_64.lib
libboost_zlib-vc141-mt-gd-1_64.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
qhull_d.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_r_d.lib
qhull_p_d.lib
qhull_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

Note : These versions of the file name involved in the issue. libboost_atomic-vc141-mt-gd-1_64.libOther files vc141, 1_64etc. needed to text C:\Program Files\PCL_1_8_1\3rdParty\Boost\libafter confirmation folder modification; vtkalglib-8.0-gd.libet file 8.0needs to C:\Program Files\PCL_1_8_1\3rdParty\VTK\libfolder modified confirmation. Again, this depends on two paths own computer installation.

Then, click OK, we point cloud development environment in Debug mode it done! Go online to find examples of code and paste, if successfully compiled to run on behalf of configuration success.

Then talk about the configuration Release mode. Or right-click 解决方案管理器in pcl_test, then select 属性and then select the top of the window Release, then choose the Download Library when selecting a cloud platform.

Then follow configuration Debug mode in order to configure, just 链接器under 输入the 附加依赖项list of files are not the same, need to fill out for the following files:

pcl_common_release.lib
pcl_features_release.lib
pcl_filters_release.lib
pcl_io_release.lib
pcl_io_ply_release.lib
pcl_kdtree_release.lib
pcl_keypoints_release.lib
pcl_ml_release.lib
pcl_octree_release.lib
pcl_outofcore_release.lib
pcl_people_release.lib
pcl_recognition_release.lib
pcl_registration_release.lib
pcl_sample_consensus_release.lib
pcl_search_release.lib
pcl_segmentation_release.lib
pcl_stereo_release.lib
pcl_surface_release.lib
pcl_tracking_release.lib
pcl_visualization_release.lib
libboost_atomic-vc141-mt-1_64.lib
libboost_chrono-vc141-mt-1_64.lib
libboost_container-vc141-mt-1_64.lib
libboost_context-vc141-mt-1_64.lib
libboost_coroutine-vc141-mt-1_64.lib
libboost_date_time-vc141-mt-1_64.lib
libboost_exception-vc141-mt-1_64.lib
libboost_filesystem-vc141-mt-1_64.lib
libboost_graph-vc141-mt-1_64.lib
libboost_iostreams-vc141-mt-1_64.lib
libboost_locale-vc141-mt-1_64.lib
libboost_log-vc141-mt-1_64.lib
libboost_log_setup-vc141-mt-1_64.lib
libboost_math_c99-vc141-mt-1_64.lib
libboost_math_c99f-vc141-mt-1_64.lib
libboost_math_c99l-vc141-mt-1_64.lib
libboost_math_tr1-vc141-mt-1_64.lib
libboost_math_tr1f-vc141-mt-1_64.lib
libboost_math_tr1l-vc141-mt-1_64.lib
libboost_mpi-vc141-mt-1_64.lib
libboost_prg_exec_monitor-vc141-mt-1_64.lib
libboost_program_options-vc141-mt-1_64.lib
libboost_random-vc141-mt-1_64.lib
libboost_regex-vc141-mt-1_64.lib
libboost_serialization-vc141-mt-1_64.lib
libboost_signals-vc141-mt-1_64.lib
libboost_system-vc141-mt-1_64.lib
libboost_test_exec_monitor-vc141-mt-1_64.lib
libboost_thread-vc141-mt-1_64.lib
libboost_timer-vc141-mt-1_64.lib
libboost_unit_test_framework-vc141-mt-1_64.lib
libboost_wave-vc141-mt-1_64.lib
libboost_wserialization-vc141-mt-1_64.lib
vtkalglib-8.0.lib
vtkChartsCore-8.0.lib
vtkCommonColor-8.0.lib
vtkCommonComputationalGeometry-8.0.lib
vtkCommonCore-8.0.lib
vtkCommonDataModel-8.0.lib
vtkCommonExecutionModel-8.0.lib
vtkCommonMath-8.0.lib
vtkCommonMisc-8.0.lib
vtkCommonSystem-8.0.lib
vtkCommonTransforms-8.0.lib
vtkDICOMParser-8.0.lib
vtkDomainsChemistry-8.0.lib
vtkexoIIc-8.0.lib
vtkexpat-8.0.lib
vtkFiltersAMR-8.0.lib
vtkFiltersCore-8.0.lib
vtkFiltersExtraction-8.0.lib
vtkFiltersFlowPaths-8.0.lib
vtkFiltersGeneral-8.0.lib
vtkFiltersGeneric-8.0.lib
vtkFiltersGeometry-8.0.lib
vtkFiltersHybrid-8.0.lib
vtkFiltersHyperTree-8.0.lib
vtkFiltersImaging-8.0.lib
vtkFiltersModeling-8.0.lib
vtkFiltersParallel-8.0.lib
vtkFiltersParallelImaging-8.0.lib
vtkFiltersPoints-8.0.lib
vtkFiltersProgrammable-8.0.lib
vtkFiltersSelection-8.0.lib
vtkFiltersSMP-8.0.lib
vtkFiltersSources-8.0.lib
vtkFiltersStatistics-8.0.lib
vtkFiltersTexture-8.0.lib
vtkFiltersTopology-8.0.lib
vtkFiltersVerdict-8.0.lib
vtkfreetype-8.0.lib
vtkGeovisCore-8.0.lib
vtkgl2ps-8.0.lib
vtkhdf5-8.0.lib
vtkhdf5_hl-8.0.lib
vtkImagingColor-8.0.lib
vtkImagingCore-8.0.lib
vtkImagingFourier-8.0.lib
vtkImagingGeneral-8.0.lib
vtkImagingHybrid-8.0.lib
vtkImagingMath-8.0.lib
vtkImagingMorphological-8.0.lib
vtkImagingSources-8.0.lib
vtkImagingStatistics-8.0.lib
vtkImagingStencil-8.0.lib
vtkInfovisCore-8.0.lib
vtkInfovisLayout-8.0.lib
vtkInteractionImage-8.0.lib
vtkInteractionStyle-8.0.lib
vtkInteractionWidgets-8.0.lib
vtkIOAMR-8.0.lib
vtkIOCore-8.0.lib
vtkIOEnSight-8.0.lib
vtkIOExodus-8.0.lib
vtkIOExport-8.0.lib
vtkIOExportOpenGL-8.0.lib
vtkIOGeometry-8.0.lib
vtkIOImage-8.0.lib
vtkIOImport-8.0.lib
vtkIOInfovis-8.0.lib
vtkIOLegacy-8.0.lib
vtkIOLSDyna-8.0.lib
vtkIOMINC-8.0.lib
vtkIOMovie-8.0.lib
vtkIONetCDF-8.0.lib
vtkIOParallel-8.0.lib
vtkIOParallelXML-8.0.lib
vtkIOPLY-8.0.lib
vtkIOSQL-8.0.lib
vtkIOTecplotTable-8.0.lib
vtkIOVideo-8.0.lib
vtkIOXML-8.0.lib
vtkIOXMLParser-8.0.lib
vtkjpeg-8.0.lib
vtkjsoncpp-8.0.lib
vtklibharu-8.0.lib
vtklibxml2-8.0.lib
vtklz4-8.0.lib
vtkmetaio-8.0.lib
vtkNetCDF-8.0.lib
vtknetcdf_c++.lib
vtkoggtheora-8.0.lib
vtkParallelCore-8.0.lib
vtkpng-8.0.lib
vtkproj4-8.0.lib
vtkRenderingAnnotation-8.0.lib
vtkRenderingContext2D-8.0.lib
vtkRenderingContextOpenGL-8.0.lib
vtkRenderingCore-8.0.lib
vtkRenderingFreeType-8.0.lib
vtkRenderingGL2PS-8.0.lib
vtkRenderingImage-8.0.lib
vtkRenderingLabel-8.0.lib
vtkRenderingLIC-8.0.lib
vtkRenderingLOD-8.0.lib
vtkRenderingOpenGL-8.0.lib
vtkRenderingVolume-8.0.lib
vtkRenderingVolumeOpenGL-8.0.lib
vtksqlite-8.0.lib
vtksys-8.0.lib
vtktiff-8.0.lib
vtkverdict-8.0.lib
vtkViewsContext2D-8.0.lib
vtkViewsCore-8.0.lib
vtkViewsInfovis-8.0.lib
vtkzlib-8.0.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_s.lib
qhullcpp_d.lib
qhullstatic.lib
qhullstatic_r.lib
qhull.lib
qhull_p.lib
qhull_r.lib
OpenNI2.lib
kernel32.lib
user32.lib
gdi32.lib
winspool.lib
shell32.lib
ole32.lib
oleaut32.lib
uuid.lib
comdlg32.lib
advapi32.lib
comctl32.lib
wsock32.lib
glu32.lib
opengl32.lib
ws2_32.lib
Psapi.lib

同样需要注意版本问题。

In this way, our Debug mode and Release mode on all the configuration is complete, you can choose according to their needs. In order to reduce the burden on other projects configured, you can save these configurations as a property sheet, you can search methods on their own, this is not to do a repeat.

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Windows + VS2017 ultra-detailed point cloud Library (PCL) Configuration