win10+VS2015+PCL1.18.1

1、下载文件：

（1）、pcl-1.8.1 All-in-one-installer MSVC2015x64

（2）、PDB文件，解压到安装目录的bin下面

2、配置环境变量

3、VS配置

（1）项目属性 - VC++目录 - 包含目录，添加

F:\PCL\Pcl-install\PCL1.8.1\include\pcl-1.8
F:\PCL\Pcl-install\PCL1.8.1\3rdParty\Boost\include\boost-1_61
F:\PCL\Pcl-install\PCL1.8.1\3rdParty\Eigen\eigen3
F:\PCL\Pcl-install\PCL1.8.1\3rdParty\FLANN\include
F:\PCL\Pcl-install\PCL1.8.1\3rdParty\Qhull\include
F:\PCL\Pcl-install\PCL1.8.1\3rdParty\VTK\include\vtk-7.0
F:\PCL\Pcl-install\PCL1.8.1\3rdParty\OpenNI2\Include

（2）项目属性 - VC++ - 库目录，添加

F:\PCL\Pcl-install\PCL1.8.1\lib
F:\PCL\Pcl-install\PCL1.8.1\3rdParty\Boost\lib
F:\PCL\Pcl-install\PCL1.8.1\3rdParty\FLANN\lib
F:\PCL\Pcl-install\PCL1.8.1\3rdParty\Qhull\lib
F:\PCL\Pcl-install\PCL1.8.1\3rdParty\VTK\lib
F:\PCL\Pcl-install\PCL1.8.1\3rdParty\OpenNI2\Lib

（3）项目属性 - 调试 - 环境，添加

F:\PCL\Pcl-install\PCL1.8.1\bin

（4）项目属性 - 属性 - 链接器 - 附加依赖项，添加（注意对应的版本号）

debug模式下：

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-vc140-mt-gd-1_64.lib

libboost_bzip2-vc140-mt-gd-1_64.lib

libboost_chrono-vc140-mt-gd-1_64.lib

libboost_container-vc140-mt-gd-1_64.lib

libboost_context-vc140-mt-gd-1_64.lib

libboost_coroutine-vc140-mt-gd-1_64.lib

libboost_date_time-vc140-mt-gd-1_64.lib

libboost_exception-vc140-mt-gd-1_64.lib

libboost_fiber-vc140-mt-gd-1_64.lib

libboost_filesystem-vc140-mt-gd-1_64.lib

libboost_graph_parallel-vc140-mt-gd-1_64.lib

libboost_graph-vc140-mt-gd-1_64.lib

libboost_iostreams-vc140-mt-gd-1_64.lib

libboost_locale-vc140-mt-gd-1_64.lib

libboost_log-vc140-mt-gd-1_64.lib

libboost_log_setup-vc140-mt-gd-1_64.lib

libboost_math_c99-vc140-mt-gd-1_64.lib

libboost_math_c99f-vc140-mt-gd-1_64.lib

libboost_math_c99l-vc140-mt-gd-1_64.lib

libboost_math_tr1-vc140-mt-gd-1_64.lib

libboost_math_tr1f-vc140-mt-gd-1_64.lib

libboost_math_tr1l-vc140-mt-gd-1_64.lib

libboost_mpi-vc140-mt-gd-1_64.lib

libboost_numpy3-vc140-mt-gd-1_64.lib

libboost_numpy-vc140-mt-gd-1_64.lib

libboost_prg_exec_monitor-vc140-mt-gd-1_64.lib

libboost_program_options-vc140-mt-gd-1_64.lib

libboost_python3-vc140-mt-gd-1_64.lib

libboost_python-vc140-mt-gd-1_64.lib

libboost_random-vc140-mt-gd-1_64.lib

libboost_regex-vc140-mt-gd-1_64.lib

libboost_serialization-vc140-mt-gd-1_64.lib

libboost_signals-vc140-mt-gd-1_64.lib

libboost_system-vc140-mt-gd-1_64.lib

libboost_test_exec_monitor-vc140-mt-gd-1_64.lib

libboost_thread-vc140-mt-gd-1_64.lib

libboost_timer-vc140-mt-gd-1_64.lib

libboost_type_erasure-vc140-mt-gd-1_64.lib

libboost_unit_test_framework-vc140-mt-gd-1_64.lib

libboost_wave-vc140-mt-gd-1_64.lib

libboost_wserialization-vc140-mt-gd-1_64.lib

libboost_zlib-vc140-mt-gd-1_64.lib

vtkzlib-8.0-gd.lib

vtkViewsContext2D-8.0-gd.lib

vtkhdf5_hl-8.0-gd.lib

vtkFiltersProgrammable-8.0-gd.lib

vtkIOMovie-8.0-gd.lib

vtkexpat-8.0-gd.lib

vtkRenderingLOD-8.0-gd.lib

vtkIOPLY-8.0-gd.lib

vtkpng-8.0-gd.lib

vtkIOVideo-8.0-gd.lib

vtkRenderingImage-8.0-gd.lib

vtkFiltersVerdict-8.0-gd.lib

vtkjpeg-8.0-gd.lib

vtkInteractionImage-8.0-gd.lib

vtkverdict-8.0-gd.lib

vtkoggtheora-8.0-gd.lib

vtkImagingStatistics-8.0-gd.lib

vtkCommonSystem-8.0-gd.lib

vtkFiltersParallelImaging-8.0-gd.lib

vtkFiltersTexture-8.0-gd.lib

vtkCommonMisc-8.0-gd.lib

vtkCommonMath-8.0-gd.lib

vtkFiltersSelection-8.0-gd.lib

vtkImagingFourier-8.0-gd.lib

vtkIOXMLParser-8.0-gd.lib

vtkproj4-8.0-gd.lib

vtkalglib-8.0-gd.lib

vtktiff-8.0-gd.lib

vtksqlite-8.0-gd.lib

vtkImagingSources-8.0-gd.lib

vtkCommonTransforms-8.0-gd.lib

vtkImagingMath-8.0-gd.lib

vtkFiltersGeneric-8.0-gd.lib

vtkexoIIc-8.0-gd.lib

vtkfreetype-8.0-gd.lib

vtkImagingColor-8.0-gd.lib

vtknetcdf_c++-gd.lib

vtkNetCDF-8.0-gd.lib

vtkFiltersImaging-8.0-gd.lib

vtkFiltersHyperTree-8.0-gd.lib

vtkImagingMorphological-8.0-gd.lib

vtkImagingStencil-8.0-gd.lib

vtkRenderingFreeType-8.0-gd.lib

vtkCommonColor-8.0-gd.lib

vtkjsoncpp-8.0-gd.lib

vtkRenderingContext2D-8.0-gd.lib

vtkFiltersAMR-8.0-gd.lib

vtkRenderingContextOpenGL-8.0-gd.lib

vtkIOParallelXML-8.0-gd.lib

vtkViewsCore-8.0-gd.lib

vtkImagingHybrid-8.0-gd.lib

vtkIOExport-8.0-gd.lib

vtkRenderingVolumeOpenGL-8.0-gd.lib

vtkIOImport-8.0-gd.lib

vtkDomainsChemistry-8.0-gd.lib

vtkInteractionStyle-8.0-gd.lib

vtkCommonComputationalGeometry-8.0-gd.lib

vtkDICOMParser-8.0-gd.lib

vtklibxml2-8.0-gd.lib

vtkIOMINC-8.0-gd.lib

vtkIOSQL-8.0-gd.lib

vtkFiltersModeling-8.0-gd.lib

vtkParallelCore-8.0-gd.lib

vtkIOAMR-8.0-gd.lib

vtkGeovisCore-8.0-gd.lib

vtksys-8.0-gd.lib

vtkIOEnSight-8.0-gd.lib

vtkImagingGeneral-8.0-gd.lib

vtkFiltersFlowPaths-8.0-gd.lib

vtkIOLSDyna-8.0-gd.lib

vtkFiltersSMP-8.0-gd.lib

vtkIOParallel-8.0-gd.lib

vtkFiltersGeometry-8.0-gd.lib

vtkInfovisLayout-8.0-gd.lib

vtkIOCore-8.0-gd.lib

vtkFiltersSources-8.0-gd.lib

vtkIOLegacy-8.0-gd.lib

vtkFiltersHybrid-8.0-gd.lib

vtkIONetCDF-8.0-gd.lib

vtkFiltersExtraction-8.0-gd.lib

vtkFiltersParallel-8.0-gd.lib

vtkRenderingLabel-8.0-gd.lib

vtkIOInfovis-8.0-gd.lib

vtkRenderingAnnotation-8.0-gd.lib

vtkImagingCore-8.0-gd.lib

vtkCommonExecutionModel-8.0-gd.lib

vtkhdf5-8.0-gd.lib

vtkViewsInfovis-8.0-gd.lib

vtkIOGeometry-8.0-gd.lib

vtkmetaio-8.0-gd.lib

vtkIOImage-8.0-gd.lib

vtkIOXML-8.0-gd.lib

vtkIOExodus-8.0-gd.lib

vtkRenderingVolume-8.0-gd.lib

vtkChartsCore-8.0-gd.lib

vtkFiltersStatistics-8.0-gd.lib

vtkInfovisCore-8.0-gd.lib

vtkRenderingCore-8.0-gd.lib

vtkInteractionWidgets-8.0-gd.lib

vtkRenderingOpenGL-8.0-gd.lib

vtkFiltersGeneral-8.0-gd.lib

vtkFiltersCore-8.0-gd.lib

vtkCommonDataModel-8.0-gd.lib

vtkCommonCore-8.0-gd.lib

flann_cpp_s-gd.lib

qhullstatic_d.lib

OpenNI2.lib

Release模式下：

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

flann_cpp_s.lib

flann_s.lib

flann.lib

libboost_atomic-vc140-mt-1_61.lib

libboost_chrono-vc140-mt-1_61.lib

libboost_container-vc140-mt-1_61.lib

libboost_context-vc140-mt-1_61.lib

libboost_coroutine-vc140-mt-1_61.lib

libboost_date_time-vc140-mt-1_61.lib

libboost_exception-vc140-mt-1_61.lib

libboost_filesystem-vc140-mt-1_61.lib

libboost_graph-vc140-mt-1_61.lib

libboost_iostreams-vc140-mt-1_61.lib

libboost_locale-vc140-mt-1_61.lib

libboost_log-vc140-mt-1_61.lib

libboost_log_setup-vc140-mt-1_61.lib

libboost_math_c99-vc140-mt-1_61.lib

libboost_math_c99f-vc140-mt-1_61.lib

libboost_math_c99l-vc140-mt-1_61.lib

libboost_math_tr1-vc140-mt-1_61.lib

libboost_math_tr1f-vc140-mt-1_61.lib

libboost_math_tr1l-vc140-mt-1_61.lib

libboost_mpi-vc140-mt-1_61.lib

libboost_prg_exec_monitor-vc140-mt-1_61.lib

libboost_program_options-vc140-mt-1_61.lib

libboost_random-vc140-mt-1_61.lib

libboost_regex-vc140-mt-1_61.lib

libboost_serialization-vc140-mt-1_61.lib

libboost_signals-vc140-mt-1_61.lib

libboost_system-vc140-mt-1_61.lib

libboost_test_exec_monitor-vc140-mt-1_61.lib

libboost_thread-vc140-mt-1_61.lib

libboost_timer-vc140-mt-1_61.lib

libboost_unit_test_framework-vc140-mt-1_61.lib

libboost_wave-vc140-mt-1_61.lib

libboost_wserialization-vc140-mt-1_61.lib

qhullstatic.lib

qhull.lib

qhull_p.lib

qhull_r.lib

qhullcpp.lib

qhullstatic_r.lib

vtkalglib-7.0.lib

vtkChartsCore-7.0.lib

vtkCommonColor-7.0.lib

vtkCommonComputationalGeometry-7.0.lib

vtkCommonCore-7.0.lib

vtkCommonDataModel-7.0.lib

vtkCommonExecutionModel-7.0.lib

vtkCommonMath-7.0.lib

vtkCommonMisc-7.0.lib

vtkCommonSystem-7.0.lib

vtkCommonTransforms-7.0.lib

vtkDICOMParser-7.0.lib

vtkDomainsChemistry-7.0.lib

vtkexoIIc-7.0.lib

vtkexpat-7.0.lib

vtkFiltersAMR-7.0.lib

vtkFiltersCore-7.0.lib

vtkFiltersExtraction-7.0.lib

vtkFiltersFlowPaths-7.0.lib

vtkFiltersGeneral-7.0.lib

vtkFiltersGeneric-7.0.lib

vtkFiltersGeometry-7.0.lib

vtkFiltersHybrid-7.0.lib

vtkFiltersHyperTree-7.0.lib

vtkFiltersImaging-7.0.lib

vtkFiltersModeling-7.0.lib

vtkFiltersParallel-7.0.lib

vtkFiltersParallelImaging-7.0.lib

vtkFiltersProgrammable-7.0.lib

vtkFiltersSelection-7.0.lib

vtkFiltersSMP-7.0.lib

vtkFiltersSources-7.0.lib

vtkFiltersStatistics-7.0.lib

vtkFiltersTexture-7.0.lib

vtkFiltersVerdict-7.0.lib

vtkfreetype-7.0.lib

vtkGeovisCore-7.0.lib

vtkhdf5-7.0.lib

vtkhdf5_hl-7.0.lib

vtkImagingColor-7.0.lib

vtkImagingCore-7.0.lib

vtkImagingFourier-7.0.lib

vtkImagingGeneral-7.0.lib

vtkImagingHybrid-7.0.lib

vtkImagingMath-7.0.lib

vtkImagingMorphological-7.0.lib

vtkImagingSources-7.0.lib

vtkImagingStatistics-7.0.lib

vtkImagingStencil-7.0.lib

vtkInfovisCore-7.0.lib

vtkInfovisLayout-7.0.lib

vtkInteractionImage-7.0.lib

vtkInteractionStyle-7.0.lib

vtkInteractionWidgets-7.0.lib

vtkIOAMR-7.0.lib

vtkIOCore-7.0.lib

vtkIOEnSight-7.0.lib

vtkIOExodus-7.0.lib

vtkIOExport-7.0.lib

vtkIOGeometry-7.0.lib

vtkIOImage-7.0.lib

vtkIOImport-7.0.lib

vtkIOInfovis-7.0.lib

vtkIOLegacy-7.0.lib

vtkIOLSDyna-7.0.lib

vtkIOMINC-7.0.lib

vtkIOMovie-7.0.lib

vtkIONetCDF-7.0.lib

vtkIOParallel-7.0.lib

vtkIOPLY-7.0.lib

vtkIOSQL-7.0.lib

vtkIOVideo-7.0.lib

vtkIOXML-7.0.lib

vtkIOXMLParser-7.0.lib

vtkjpeg-7.0.lib

vtkjsoncpp-7.0.lib

vtklibxml2-7.0.lib

vtkmetaio-7.0.lib

vtkNetCDF-7.0.lib

vtkNetCDF_cxx-7.0.lib

vtkoggtheora-7.0.lib

vtkParallelCore-7.0.lib

vtkpng-7.0.lib

vtkproj4-7.0.lib

vtkRenderingAnnotation-7.0.lib

vtkRenderingContext2D-7.0.lib

vtkRenderingCore-7.0.lib

vtkRenderingFreeType-7.0.lib

vtkRenderingImage-7.0.lib

vtkRenderingLabel-7.0.lib

vtkRenderingLOD-7.0.lib

vtkRenderingVolume-7.0.lib

vtksqlite-7.0.lib
vtksys-7.0.lib

vtktiff-7.0.lib
vtkverdict-7.0.lib

vtkViewsContext2D-7.0.lib

vtkViewsCore-7.0.lib
vtk
ViewsInfovis-7.0.lib

vtkzlib-7.0.lib

OpenNI2.lib

4、测试代码：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
 
int main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);
 
	// Fill in the cloud data
	cloud->width = 5;
	cloud->height = 1;
	cloud->points.resize(cloud->width * cloud->height);
 
	for (size_t i = 0; i < cloud->points.size(); ++i)
	{
		cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
	}
 
	std::cerr << "Cloud before projection: " << std::endl;
	for (size_t i = 0; i < cloud->points.size(); ++i)
		std::cerr << "    " << cloud->points[i].x << " "
		<< cloud->points[i].y << " "
		<< cloud->points[i].z << std::endl;
 
	// Create a set of planar coefficients with X=Y=0,Z=1
	pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
	coefficients->values.resize(4);
	coefficients->values[0] = coefficients->values[1] = 0;
	coefficients->values[2] = 1.0;
	coefficients->values[3] = 0;
 
	// Create the filtering object
	pcl::ProjectInliers<pcl::PointXYZ> proj;
	proj.setModelType(pcl::SACMODEL_PLANE);
	proj.setInputCloud(cloud);
	proj.setModelCoefficients(coefficients);
	proj.filter(*cloud_projected);
 
	std::cerr << "Cloud after projection: " << std::endl;
	for (size_t i = 0; i < cloud_projected->points.size(); ++i)
		std::cerr << "    " << cloud_projected->points[i].x << " "
		<< cloud_projected->points[i].y << " "
		<< cloud_projected->points[i].z << std::endl;
 
	system("pause");
	return (0);
}

5、测试结果：

6、出现异常情况：

（1）pcl_common_debug.dll文件找不到：在PCL安装目录bin下，找到该dll文件，并复制到工程目录下；