pcl+vs2012+win7(32位)配置环境

      PCL+ VS2012 + WIN7（32位）环境配置，大部分C++库配置都可作为参考，总体思路相同。

      由于实验项目在三维建模遇到困难，自己写的三维曲面重建效果不佳，又苦于图像滤波处理方法的参考方法较少，需要借助PCL丰富的第三方库，实现三维数据的处理与展示。因此着手准备安装PCL，中间经历多次重装，特记下此经历：

一则 方便日后再次PCL时查找相关资料的繁琐，能够快速完成PCL库的安装，省去不必要的麻烦。

二则 为日后安装其他C++相关库积累些经验，提高库安装的速度。

一：配置文件准备

特别注意：（1）需要下载自己电脑位数和VS对应的版本

                  （2）下载后安装路径需记住，最好安装在一个目录中

1：首先下载PCL-1.7.2-AllInOne-msvc2012-win32，链接：http://pan.baidu.com/s/1bnB4I79

安装完成后右键点击 运行，见下图，点击下一步，自己选择安装路径。本人安装在  D:\PCL1.72

安装完成后见下图，3rdParty包含其他需要的文件。

2：下载OpenNI1.5.4，下载地址https://sourceforge.net/projects/pointclouds/files/dependencies/OpenNI-Win32-1.5.4-Dev.msi/download

下载完成后见下图，直接点击运行安装，安装路径自己设置。本人安装在  D:\PCL1.72\OpenNI1.5.4

二：系统环境设置

1：右击计算机 >>>属性>>>高级系统设置>>>环境变量，在用户变量下新建PCL,值为安装目录。

2：在用户变量的PATH下添加路径： 

注意：（1）添加变量路径要用英文符号分隔开

           （2）检测路径设置是否正确，根据自己的安装路径设置，并重启电脑

D:\PCL1.72\bin;

D:\PCL1.72\3rdParty\OpenNI\Bin;

D:\PCL1.72\3rdParty\FLANN\bin;

D:\PCL1.72\3rdParty\QHull\bin;

D:\PCL1.72\3rdParty\VTK\bin;

三：工程项目配置

1：创建C++空项目，在属性管理器中新建项目属性表。见下图

 

2：打开新建属性表，点击VC++目录>>>包含库目录>>>编辑，见下图

在包含目录中添加安装完成的所有include文件夹，外加一个3rdParty中的Eigen文件夹。注意（倒二个文件夹是OpenNI的include，添加这个include的时候要找到自己文件对应的路径）

同时，添加库目录的所有lib文件夹，和库目录一样的方法，添加所有lib文件夹。注意（倒二个文件夹是OpenNI的Lib）

3：添加lib文件

打开连接器>>> 输入>>>附加依赖项>>>编辑，输入以下.lib文件

pcl_common_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_io_debug.lib
pcl_io_ply_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-vc110-mt-1_55.lib
libboost_atomic-vc110-mt-gd-1_55.lib
libboost_chrono-vc110-mt-1_55.lib
libboost_chrono-vc110-mt-gd-1_55.lib
libboost_context-vc110-mt-1_55.lib
libboost_context-vc110-mt-gd-1_55.lib
libboost_coroutine-vc110-mt-1_55.lib
libboost_coroutine-vc110-mt-gd-1_55.lib
libboost_date_time-vc110-mt-1_55.lib
libboost_date_time-vc110-mt-gd-1_55.lib
libboost_exception-vc110-mt-1_55.lib
libboost_exception-vc110-mt-gd-1_55.lib
libboost_filesystem-vc110-mt-1_55.lib
libboost_filesystem-vc110-mt-gd-1_55.lib
libboost_graph_parallel-vc110-mt-1_55.lib
libboost_graph_parallel-vc110-mt-gd-1_55.lib
libboost_graph-vc110-mt-1_55.lib
libboost_graph-vc110-mt-gd-1_55.lib
libboost_iostreams-vc110-mt-1_55.lib
libboost_iostreams-vc110-mt-gd-1_55.lib
libboost_locale-vc110-mt-1_55.lib
libboost_locale-vc110-mt-gd-1_55.lib
libboost_log_setup-vc110-mt-1_55.lib
libboost_log_setup-vc110-mt-gd-1_55.lib
libboost_log-vc110-mt-1_55.lib
libboost_log-vc110-mt-gd-1_55.lib
libboost_math_c99-vc110-mt-1_55.lib
libboost_math_c99-vc110-mt-gd-1_55.lib
libboost_math_c99f-vc110-mt-1_55.lib
libboost_math_c99f-vc110-mt-gd-1_55.lib
libboost_math_c99l-vc110-mt-1_55.lib
libboost_math_c99l-vc110-mt-gd-1_55.lib
libboost_math_tr1-vc110-mt-1_55.lib
libboost_math_tr1-vc110-mt-gd-1_55.lib
libboost_math_tr1f-vc110-mt-1_55.lib
libboost_math_tr1f-vc110-mt-gd-1_55.lib
libboost_math_tr1l-vc110-mt-1_55.lib
libboost_math_tr1l-vc110-mt-gd-1_55.lib
libboost_mpi-vc110-mt-1_55.lib
libboost_mpi-vc110-mt-gd-1_55.lib
libboost_prg_exec_monitor-vc110-mt-1_55.lib
libboost_prg_exec_monitor-vc110-mt-gd-1_55.lib
libboost_program_options-vc110-mt-1_55.lib
libboost_program_options-vc110-mt-gd-1_55.lib
libboost_random-vc110-mt-1_55.lib
libboost_random-vc110-mt-gd-1_55.lib
libboost_regex-vc110-mt-1_55.lib
libboost_regex-vc110-mt-gd-1_55.lib
libboost_serialization-vc110-mt-1_55.lib
libboost_serialization-vc110-mt-gd-1_55.lib
libboost_signals-vc110-mt-1_55.lib
libboost_signals-vc110-mt-gd-1_55.lib
libboost_system-vc110-mt-gd-1_55.lib
libboost_test_exec_monitor-vc110-mt-1_55.lib
libboost_test_exec_monitor-vc110-mt-gd-1_55.lib
libboost_thread-vc110-mt-gd-1_55.lib
libboost_timer-vc110-mt-1_55.lib
libboost_timer-vc110-mt-gd-1_55.lib
libboost_unit_test_framework-vc110-mt-1_55.lib
libboost_unit_test_framework-vc110-mt-gd-1_55.lib
libboost_wave-vc110-mt-1_55.lib
libboost_wave-vc110-mt-gd-1_55.lib
libboost_wserialization-vc110-mt-1_55.lib
libboost_wserialization-vc110-mt-gd-1_55.lib
flann.lib
flann_cpp_s.lib
flann_cpp_s-gd.lib
flann_s.lib
flann_s-gd.lib
flann-gd.lib
qhull.lib
qhull_d.lib
qhull_p.lib
qhull_p_d.lib
qhullcpp.lib
qhullcpp_d.lib
qhullstatic.lib
qhullstatic_d.lib
qhullstatic_p.lib
qhullstatic_p_d.lib
vtkalglib.lib
vtkalglib-gd.lib
vtkCharts.lib
vtkCharts-gd.lib
vtkCommon.lib
vtkCommon-gd.lib
vtkDICOMParser.lib
vtkDICOMParser-gd.lib
vtkexoIIc.lib
vtkexoIIc-gd.lib
vtkexpat.lib
vtkexpat-gd.lib
vtkFiltering.lib
vtkFiltering-gd.lib
vtkfreetype.lib
vtkfreetype-gd.lib
vtkftgl.lib
vtkftgl-gd.lib
vtkGenericFiltering.lib
vtkGenericFiltering-gd.lib
vtkGeovis.lib
vtkGeovis-gd.lib
vtkGraphics.lib
vtkGraphics-gd.lib
vtkhdf5.lib
vtkhdf5_hl.lib
vtkhdf5_hl-gd.lib
vtkhdf5-gd.lib
vtkHybrid.lib
vtkHybrid-gd.lib
vtkImaging.lib
vtkImaging-gd.lib
vtkInfovis.lib
vtkInfovis-gd.lib
vtkIO.lib
vtkIO-gd.lib
vtkjpeg.lib
vtkjpeg-gd.lib
vtklibxml2.lib
vtklibxml2-gd.lib
vtkmetaio.lib
vtkmetaio-gd.lib
vtkNetCDF.lib
vtkNetCDF_cxx.lib
vtkNetCDF_cxx-gd.lib
vtkNetCDF-gd.lib
vtkpng.lib
vtkpng-gd.lib
vtkproj4.lib
vtkproj4-gd.lib
vtkRendering.lib
vtkRendering-gd.lib
vtksqlite.lib
vtksqlite-gd.lib
vtksys.lib
vtksys-gd.lib
vtktiff.lib
vtktiff-gd.lib
vtkverdict.lib
vtkverdict-gd.lib
vtkViews-gd.lib
vtkViews.lib
vtkVolumeRendering.lib
vtkVolumeRendering-gd.lib
vtkWidgets.lib
vtkWidgets-gd.lib
vtkzlib.lib
vtkzlib-gd.lib

完成配置！新建一个.cpp文件数进行测试。代码如下：

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

int main()
{
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new 
    pcl::PointCloud<pcl::PointXYZRGBA>);
    
    //加载pcd文件
    pcl::io::loadPCDFile("table_scene.pcd", *cloud);
	
    pcl::visualization::CloudViewer viewer("Cloud Viewer");

    viewer.showCloud(cloud);


	while(!viewer.wasStopped())
	{
	   //Do something
	}
    return 0;
}

以下是pcd文件，复制到txt文件中，修改后缀名为.pcd即可。

# .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
0.93773 0.33763 0 4.2108e+06
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
0.74995 0.24723 0 4.2108e+06
0.68049 0.29768 0 4.2108e+06
0.66509 0.29002 0 4.2108e+06
0.69441 0.2526 0 4.2108e+06
0.62807 0.22187 0 4.2108e+06
0.58706 0.32199 0 4.2108e+06
0.52125 0.31955 0 4.2108e+06
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0.50043 0.31235 0 4.2108e+06
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0.085123 0.29441 0 4.808e+06
0.048446 0.31279 0 4.808e+06
0.086957 0.24399 0 4.808e+06
0.3788 0.21189 0 4.2108e+06
0.29465 0.19323 0 4.2108e+06
0.23755 0.19348 0 4.808e+06
0.29463 0.16054 0 4.2108e+06
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0.15704 0.21245 0 4.808e+06
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-0.075715 0.32095 0 4.808e+06
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0.0007442 -0.15603 0 4.2108e+06
-0.1741 -0.17381 0 4.808e+06
-0.18502 -0.02954 0 4.808e+06
-0.20707 -0.056403 0 4.808e+06
-0.23348 -0.07764 0 4.808e+06
-0.2244 -0.10653 0 4.808e+06
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-0.20734 -0.15641 0 4.808e+06
-0.23348 -0.13542 0 4.808e+06
0.0061083 -0.18729 0 4.2108e+06
-0.066235 -0.27472 0 4.808e+06
-0.17577 -0.20789 0 4.808e+06
-0.10861 -0.27494 0 4.808e+06
-0.15584 -0.25716 0 4.808e+06
-0.0075775 -0.31546 0 4.808e+06
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-0.10306 -0.28653 0 4.808e+06
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-0.18716 -0.20571 0 4.808e+06
-0.18369 -0.23729 0 4.808e+06

总结一波c++相关库的配置步骤：

1：下载并安装对应版本的程序包

2：设置相对应的环境变量， 其实质是始程序能够读取相关的.dll文件。当dll数量较少时可不设置环境变量，直接添加相关的.dll文件到C:\Windows\\system32和C:\Windows\SysWOW64文件夹下即可。

3：在包含目录下添加所有的include文件夹,其实质是关联相关的头文件(.h)和执行文件(.cpp)。

4：在库目录下添加所有的lib文件夹，性质和添加.dll文件类似，使得程序能够正常执行。

5：日后再次使用该配置时，只需添加已有属性表即可。

参考文献：https://blog.csdn.net/qq_34510308/article/details/61205142

                  https://blog.csdn.net/lgdnr/article/details/51190685