pcl+vs2010+x64配置

1.先参考如下大神的配置过程：
http://blog.csdn.net/u010025211/article/details/17279925
以及：http://blog.csdn.net/wishchin/article/details/10072093

2.安装路径，默认安装路径为：C:\program files;
我安装在了：F:\PCL
安装完毕后会有3个文件夹：PrimeSense ， OpenNI， PCL 1.6.0

3.打开VS2010 ,创建一个新的工程，点击项目属性，弹出属性页。点击VC++目录里，在包含目录里添加：
F:\PCL\PCL 1.6.0\3rdParty\Boost\include
F:\PCL\PCL 1.6.0\3rdParty\Eigen\include
F:\PCL\PCL 1.6.0\3rdParty\Flann\include
F:\PCL\PCL 1.6.0\3rdParty\Qhull\include
F:\PCL\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8
F:\PCL\PCL 1.6.0\include\pcl-1.6
F:\PCL\OpenNI\Include

在库目录里添加：

F:\PCL\PCL 1.6.0\3rdParty\Boost\lib
F:\PCL\PCL 1.6.0\3rdParty\Flann\lib
F:\PCL\PCL 1.6.0\3rdParty\Qhull\lib
F:\PCL\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8
F:\PCL\PCL 1.6.0\lib
F:\PCL\OpenNI\Lib

点击C/C++——>常规

点开附加包含目录,添加：
F:\PCL\PCL 1.6.0\3rdParty\Boost\include
F:\PCL\PCL 1.6.0\3rdParty\Eigen\include
F:\PCL\PCL 1.6.0\3rdParty\Flann\include
F:\PCL\PCL 1.6.0\3rdParty\Qhull\include
F:\PCL\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8
F:\PCL\PCL 1.6.0\include\pcl-1.6
F:\PCL\OpenNI\Include；

点开链接器->常规

在附加库目录中添加：
F:\PCL\PCL 1.6.0\3rdParty\Boost\lib
F:\PCL\PCL 1.6.0\3rdParty\Flann\lib
F:\PCL\PCL 1.6.0\3rdParty\Qhull\lib
F:\PCL\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8
F:\PCL\PCL 1.6.0\lib
F:\PCL\OpenNI\Li

确定添加后关闭，在双击Debug|win32

链接器->输入->附加依赖项里边添加：
opengl32.lib
pcl_kdtree_debug.lib
pcl_io_debug.lib
pcl_search_debug.lib
pcl_segmentation_debug.lib
pcl_apps_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_visualization_debug.lib
pcl_common_debug.lib
pcl_io_ply_debug.lib
pcl_keypoints_debug.lib
pcl_octree_debug.lib
pcl_registration_debug.lib
pcl_sample_consensus_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
flann_cpp_s-gd.lib
flann_cuda_s-gd.lib
flann_s-gd.lib
flann-gd.lib
libboost_system-vc100-mt-gd-1_47.lib
libboost_filesystem-vc100-mt-gd-1_47.lib
libboost_thread-vc100-mt-gd-1_47.lib
libboost_date_time-vc100-mt-gd-1_47.lib
libboost_iostreams-vc100-mt-gd-1_47.lib
vtkalglib-gd.lib
vtkCharts-gd.lib
vtkCommon-gd.lib
vtkDICOMParser-gd.lib
vtkexoIIc-gd.lib
vtkexpat-gd.lib
vtkFiltering-gd.lib
vtkfreetype-gd.lib
vtkftgl-gd.lib
vtkGenericFiltering-gd.lib
vtkGeovis-gd.lib
vtkGraphics-gd.lib
vtkhdf5-gd.lib
vtkHybrid-gd.lib
vtkImaging-gd.lib
vtkInfovis-gd.lib
vtkIO-gd.lib
vtkjpeg-gd.lib
vtklibxml2-gd.lib
vtkmetaio-gd.lib
vtkNetCDF-gd.lib
vtkNetCDF_cxx-gd.lib
vtkpng-gd.lib
vtkproj4-gd.lib
vtkRendering-gd.lib
vtksqlite-gd.lib
vtksys-gd.lib
vtktiff-gd.lib
vtkverdict.lib
vtkViews.lib
vtkVolumeRendering.lib
vtkWidgets.lib
vtkzlib.lib
确定添加后关闭，在双击Release|win32

链接器->输入->附加依赖项里边添加：
opengl32.lib
pcl_kdtree_release.lib
pcl_io_release.lib
pcl_search_release.lib
pcl_segmentation_release.lib
pcl_apps_release.lib
pcl_features_release.lib
pcl_filters_release.lib
pcl_visualization_release.lib
pcl_common_release.lib
flann_cpp_s.lib
flann.lib
flann_cuda_s.lib
flann_s.lib
libboost_system-vc100-mt-1_47.lib
libboost_filesystem-vc100-mt-1_47.lib
libboost_thread-vc100-mt-1_47.lib
libboost_date_time-vc100-mt-1_47.lib
libboost_iostreams-vc100-mt-1_47.lib
vtkalglib.lib
vtkCharts.lib
vtkCommon.lib
vtkDICOMParser.lib
vtkexoIIc.lib
vtkexpat.lib
vtkFiltering.lib
vtkfreetype.lib
vtkftgl.lib
vtkGenericFiltering.lib
vtkGeovis.lib
vtkGraphics.lib
vtkhdf5.lib
vtkHybrid.lib
vtkImaging.lib
vtkInfovis.lib
vtkIO.lib
vtkjpeg.lib
vtklibxml2.lib
vtkmetaio.lib
vtkNetCDF.lib
vtkNetCDF_cxx.lib
vtkpng.lib
vtkproj4.lib
vtkRendering.lib
vtksqlite.lib
vtksys.lib
vtktiff.lib
vtkverdict.lib
vtkViews.lib
vtkVolumeRendering.lib
vtkWidgets.lib
vtkzlib.lib

4.右键点击计算机属性，高级系统设置，点开环境变量，在用户变量里的path变量里添加值：
F:\PCL\PCL 1.6.0\bin;F:\PCL\PCL 1.6.0\3rdParty\Flann\bin;F:\PCL\PCL 1.6.0\3rdParty\Qhull\bin
如果你的用户变量里没有path，那么新建一个path变量，在添加就可以了。

配置完成，运行例程检查是否成功配置.

源代码可以在官网上获得。


注意：如果你的电脑是x64位，如果按照以上步骤会出现这样的问题：

如何解决如下的问题呢，其实就需要做如下的修改即可：

点击配置管理器：

选择X64即可：

运行结果如下：

示例程序路径如下：
F:\PCL\PCL 1.6.0\share\doc\pcl-1.6\tutorials\sources\cloud_viewer

cloud_viewer.cpp
代码如下：

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
    
int user_data;
    
void 
viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
{
    viewer.setBackgroundColor (1.0, 0.5, 1.0);
    pcl::PointXYZ o;
    o.x = 1.0;
    o.y = 0;
    o.z = 0;
    viewer.addSphere (o, 0.25, "sphere", 0);
    std::cout << "i only run once" << std::endl;
    
}
    
void 
viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
{
    static unsigned count = 0;
    std::stringstream ss;
    ss << "Once per viewer loop: " << count++;
    viewer.removeShape ("text", 0);
    viewer.addText (ss.str(), 200, 300, "text", 0);
    
    //FIXME: possible race condition here:
    user_data++;
}
    
int 
main ()
{
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile ("my_point_cloud.pcd", *cloud);
    
    pcl::visualization::CloudViewer viewer("Cloud Viewer");
    
    //blocks until the cloud is actually rendered
    viewer.showCloud(cloud);
    
    //use the following functions to get access to the underlying more advanced/powerful
    //PCLVisualizer
    
    //This will only get called once
    viewer.runOnVisualizationThreadOnce (viewerOneOff);
    
    //This will get called once per visualization iteration
    viewer.runOnVisualizationThread (viewerPsycho);
    while (!viewer.wasStopped ())
    {
    //you can also do cool processing here
    //FIXME: Note that this is running in a separate thread from viewerPsycho
    //and you should guard against race conditions yourself...
    user_data++;
    }
    return 0;
}

建立一个.pcd的文件my_point_cloud.pcd（程序中读取的就是这个文件）
内部的数据为：

# .PCD v.7 - Point Cloud Data file format
VERSION .7
FIELDS x y z rgb
SIZE 4 4 4 4
TYPE F F F F
COUNT 1 1 1 1
WIDTH 213
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 213
DATA ascii
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0.90805 0.35641 0 4.2108e+06
0.81915 0.32 0 4.2108e+06
0.97192 0.278 0 4.2108e+06
0.944 0.29474 0 4.2108e+06
0.98111 0.24247 0 4.2108e+06
0.93655 0.26143 0 4.2108e+06
0.91631 0.27442 0 4.2108e+06
0.81921 0.29315 0 4.2108e+06
0.90701 0.24109 0 4.2108e+06
0.83239 0.23398 0 4.2108e+06
0.99185 0.2116 0 4.2108e+06
0.89264 0.21174 0 4.2108e+06
0.85082 0.21212 0 4.2108e+06
0.81044 0.32222 0 4.2108e+06
0.74459 0.32192 0 4.2108e+06
0.69927 0.32278 0 4.2108e+06
0.8102 0.29315 0 4.2108e+06
0.75504 0.29765 0 4.2108e+06
0.8102 0.24399 0 4.2108e+06
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本博客的配套完整演示代码： http://download.csdn.net/detail/zhe123zhe123zhe123/9564422