PCL安装及配置（vs2013+pcl1.8.0）

1.装vs2013
2.装PCL
3.配置环境
2.1 双击软件，开始安装。

2.2 定义自己的安装路径，安装过程中会弹出新窗口，将OPENNI装到图中对应的文件目录下（自己的路径自己定义）。

2.3 PCL安装结束

将pdb文件复制，粘贴到安装目录的bin文件下。

2.4 配置环境变量
D:\software\pcl\az_gc\PCL 1.8.0\bin;
D:\software\pcl\az_gc\PCL 1.8.0\3rdParty\FLANN\bin;
D:\software\pcl\az_gc\PCL 1.8.0\3rdParty\Qhull\bin;
D:\software\pcl\az_gc\PCL 1.8.0\3rdParty\OpenNI2\Tools;
D:\software\pcl\az_gc\PCL 1.8.0\3rdParty\VTK\bin;
2.5 打开VS2013，新建一个空白项目，打开属性管理器，新建x64

2.6 新建一个属性表，开始配置

2.7 包含目录

2.8 库目录

2.9依赖项
在cmd中 首先先链接到d盘；cd 链接 打开到该文件夹下；dir /b *.lib >0.txt将文件夹下所有lib文件名汇总到定亲文件夹下的0.txt文件中，挑出debug下和release下的文件。


我的依赖项：
debug
pcl_apps_debug.lib
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_simulation_debug.lib
pcl_stereo_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
pcl_visualization_debug.lib
libboost_atomic-vc120-mt-gd-1_59.lib
libboost_chrono-vc120-mt-gd-1_59.lib
libboost_container-vc120-mt-gd-1_59.lib
libboost_context-vc120-mt-gd-1_59.lib
libboost_coroutine-vc120-mt-gd-1_59.lib
libboost_date_time-vc120-mt-gd-1_59.lib
libboost_exception-vc120-mt-gd-1_59.lib
libboost_filesystem-vc120-mt-gd-1_59.lib
libboost_graph-vc120-mt-gd-1_59.lib
libboost_iostreams-vc120-mt-gd-1_59.lib
libboost_locale-vc120-mt-gd-1_59.lib
libboost_log-vc120-mt-gd-1_59.lib
libboost_log_setup-vc120-mt-gd-1_59.lib
libboost_math_c99-vc120-mt-gd-1_59.lib
libboost_math_c99f-vc120-mt-gd-1_59.lib
libboost_math_c99l-vc120-mt-gd-1_59.lib
libboost_math_tr1-vc120-mt-gd-1_59.lib
libboost_math_tr1f-vc120-mt-gd-1_59.lib
libboost_math_tr1l-vc120-mt-gd-1_59.lib
libboost_mpi-vc120-mt-gd-1_59.lib
libboost_prg_exec_monitor-vc120-mt-gd-1_59.lib
libboost_program_options-vc120-mt-gd-1_59.lib
libboost_random-vc120-mt-gd-1_59.lib
libboost_regex-vc120-mt-gd-1_59.lib
libboost_serialization-vc120-mt-gd-1_59.lib
libboost_signals-vc120-mt-gd-1_59.lib
libboost_system-vc120-mt-gd-1_59.lib
libboost_test_exec_monitor-vc120-mt-gd-1_59.lib
libboost_thread-vc120-mt-gd-1_59.lib
libboost_timer-vc120-mt-gd-1_59.lib
libboost_unit_test_framework-vc120-mt-gd-1_59.lib
libboost_wave-vc120-mt-gd-1_59.lib
libboost_wserialization-vc120-mt-gd-1_59.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
flann-gd.lib
OpenNI2.lib
qhull-gd.lib
qhullcpp-gd.lib
qhullstatic-gd.lib
qhullstatic_r-gd.lib
qhull_p-gd.lib
qhull_r-gd.lib
vtkalglib-7.0-gd.lib
vtkChartsCore-7.0-gd.lib
vtkCommonColor-7.0-gd.lib
vtkCommonComputationalGeometry-7.0-gd.lib
vtkCommonCore-7.0-gd.lib
vtkCommonDataModel-7.0-gd.lib
vtkCommonExecutionModel-7.0-gd.lib
vtkCommonMath-7.0-gd.lib
vtkCommonMisc-7.0-gd.lib
vtkCommonSystem-7.0-gd.lib
vtkCommonTransforms-7.0-gd.lib
vtkDICOMParser-7.0-gd.lib
vtkDomainsChemistry-7.0-gd.lib
vtkDomainsChemistryOpenGL2-7.0-gd.lib
vtkexoIIc-7.0-gd.lib
vtkexpat-7.0-gd.lib
vtkFiltersAMR-7.0-gd.lib
vtkFiltersCore-7.0-gd.lib
vtkFiltersExtraction-7.0-gd.lib
vtkFiltersFlowPaths-7.0-gd.lib
vtkFiltersGeneral-7.0-gd.lib
vtkFiltersGeneric-7.0-gd.lib
vtkFiltersGeometry-7.0-gd.lib
vtkFiltersHybrid-7.0-gd.lib
vtkFiltersHyperTree-7.0-gd.lib
vtkFiltersImaging-7.0-gd.lib
vtkFiltersModeling-7.0-gd.lib
vtkFiltersParallel-7.0-gd.lib
vtkFiltersParallelImaging-7.0-gd.lib
vtkFiltersProgrammable-7.0-gd.lib
vtkFiltersSelection-7.0-gd.lib
vtkFiltersSMP-7.0-gd.lib
vtkFiltersSources-7.0-gd.lib
vtkFiltersStatistics-7.0-gd.lib
vtkFiltersTexture-7.0-gd.lib
vtkFiltersVerdict-7.0-gd.lib
vtkfreetype-7.0-gd.lib
vtkGeovisCore-7.0-gd.lib
vtkglew-7.0-gd.lib
vtkGUISupportQt-7.0-gd.lib
vtkGUISupportQtSQL-7.0-gd.lib
vtkhdf5-7.0-gd.lib
vtkhdf5_hl-7.0-gd.lib
vtkImagingColor-7.0-gd.lib
vtkImagingCore-7.0-gd.lib
vtkImagingFourier-7.0-gd.lib
vtkImagingGeneral-7.0-gd.lib
vtkImagingHybrid-7.0-gd.lib
vtkImagingMath-7.0-gd.lib
vtkImagingMorphological-7.0-gd.lib
vtkImagingSources-7.0-gd.lib
vtkImagingStatistics-7.0-gd.lib
vtkImagingStencil-7.0-gd.lib
vtkInfovisCore-7.0-gd.lib
vtkInfovisLayout-7.0-gd.lib
vtkInteractionImage-7.0-gd.lib
vtkInteractionStyle-7.0-gd.lib
vtkInteractionWidgets-7.0-gd.lib
vtkIOAMR-7.0-gd.lib
vtkIOCore-7.0-gd.lib
vtkIOEnSight-7.0-gd.lib
vtkIOExodus-7.0-gd.lib
vtkIOExport-7.0-gd.lib
vtkIOGeometry-7.0-gd.lib
vtkIOImage-7.0-gd.lib
vtkIOImport-7.0-gd.lib
vtkIOInfovis-7.0-gd.lib
vtkIOLegacy-7.0-gd.lib
vtkIOLSDyna-7.0-gd.lib
vtkIOMINC-7.0-gd.lib
vtkIOMovie-7.0-gd.lib
vtkIONetCDF-7.0-gd.lib
vtkIOParallel-7.0-gd.lib
vtkIOParallelXML-7.0-gd.lib
vtkIOPLY-7.0-gd.lib
vtkIOSQL-7.0-gd.lib
vtkIOVideo-7.0-gd.lib
vtkIOXML-7.0-gd.lib
vtkIOXMLParser-7.0-gd.lib
vtkjpeg-7.0-gd.lib
vtkjsoncpp-7.0-gd.lib
vtklibxml2-7.0-gd.lib
vtkmetaio-7.0-gd.lib
vtkNetCDF-7.0-gd.lib
vtkNetCDF_cxx-7.0-gd.lib
vtkoggtheora-7.0-gd.lib
vtkParallelCore-7.0-gd.lib
vtkpng-7.0-gd.lib
vtkproj4-7.0-gd.lib
vtkRenderingAnnotation-7.0-gd.lib
vtkRenderingContext2D-7.0-gd.lib
vtkRenderingContextOpenGL2-7.0-gd.lib
vtkRenderingCore-7.0-gd.lib
vtkRenderingFreeType-7.0-gd.lib
vtkRenderingImage-7.0-gd.lib
vtkRenderingLabel-7.0-gd.lib
vtkRenderingLOD-7.0-gd.lib
vtkRenderingOpenGL2-7.0-gd.lib
vtkRenderingQt-7.0-gd.lib
vtkRenderingVolume-7.0-gd.lib
vtkRenderingVolumeOpenGL2-7.0-gd.lib
vtksqlite-7.0-gd.lib
vtksys-7.0-gd.lib
vtktiff-7.0-gd.lib
vtkverdict-7.0-gd.lib
vtkViewsContext2D-7.0-gd.lib
vtkViewsCore-7.0-gd.lib
vtkViewsInfovis-7.0-gd.lib
vtkViewsQt-7.0-gd.lib
vtkzlib-7.0-gd.lib

release
pcl_apps_release.lib
pcl_common_release.lib
pcl_features_release.lib
pcl_filters_release.lib
pcl_io_ply_release.lib
pcl_io_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_simulation_release.lib
pcl_stereo_release.lib
pcl_surface_release.lib
pcl_tracking_release.lib
pcl_visualization_release.lib
libboost_atomic-vc120-mt-1_59.lib
libboost_chrono-vc120-mt-1_59.lib
libboost_container-vc120-mt-1_59.lib
libboost_context-vc120-mt-1_59.lib
libboost_coroutine-vc120-mt-1_59.lib
libboost_date_time-vc120-mt-1_59.lib
libboost_exception-vc120-mt-1_59.lib
libboost_filesystem-vc120-mt-1_59.lib
libboost_graph-vc120-mt-1_59.lib
libboost_iostreams-vc120-mt-1_59.lib
libboost_locale-vc120-mt-1_59.lib
libboost_log-vc120-mt-1_59.lib
libboost_log_setup-vc120-mt-1_59.lib
libboost_math_c99-vc120-mt-1_59.lib
libboost_math_c99f-vc120-mt-1_59.lib
libboost_math_c99l-vc120-mt-1_59.lib
libboost_math_tr1-vc120-mt-1_59.lib
libboost_math_tr1f-vc120-mt-1_59.lib
libboost_math_tr1l-vc120-mt-1_59.lib
libboost_mpi-vc120-mt-1_59.lib
libboost_prg_exec_monitor-vc120-mt-1_59.lib
libboost_program_options-vc120-mt-1_59.lib
libboost_random-vc120-mt-1_59.lib
libboost_regex-vc120-mt-1_59.lib
libboost_serialization-vc120-mt-1_59.lib
libboost_signals-vc120-mt-1_59.lib
libboost_system-vc120-mt-1_59.lib
libboost_test_exec_monitor-vc120-mt-1_59.lib
libboost_thread-vc120-mt-1_59.lib
libboost_timer-vc120-mt-1_59.lib
libboost_unit_test_framework-vc120-mt-1_59.lib
libboost_wave-vc120-mt-1_59.lib
libboost_wserialization-vc120-mt-1_59.lib
flann.lib
flann_cpp_s.lib
flann_s.lib
OpenNI2.lib
qhull.lib
qhullcpp.lib
qhullstatic.lib
qhullstatic_r.lib
qhull_p.lib
qhull_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
vtkDomainsChemistryOpenGL2-7.0.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
vtkglew-7.0.lib
vtkGUISupportQt-7.0.lib
vtkGUISupportQtSQL-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
vtkIOParallelXML-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
vtkRenderingContextOpenGL2-7.0.lib
vtkRenderingCore-7.0.lib
vtkRenderingFreeType-7.0.lib
vtkRenderingImage-7.0.lib
vtkRenderingLabel-7.0.lib
vtkRenderingLOD-7.0.lib
vtkRenderingOpenGL2-7.0.lib
vtkRenderingQt-7.0.lib
vtkRenderingVolume-7.0.lib
vtkRenderingVolumeOpenGL2-7.0.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
vtkViewsInfovis-7.0.lib
vtkViewsQt-7.0.lib
vtkzlib-7.0.lib

2.10 预编译器
加上这两个
_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS

大工告成：release模式下操作相同
可以去测试一下是否配置成功
注意：
测试时遇到了问题；可加上这两句试试
#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL2)

测试数据：
链接：https://pan.baidu.com/s/1VTVxn3BntbAr9tGHv6L-HA
提取码：u81q
测试代码：

#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL)
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/filters/voxel_grid.h>
#include <iostream>
#include <pcl/visualization/cloud_viewer.h>

using namespace pcl;
using namespace std;
//显示
void visualization_point(PointCloud<PointXYZ>::Ptr &sor_cloud, PointCloud<PointXYZ>::Ptr &voxel, 
	PointCloud<Normal>::Ptr &normal1, PointCloud<Normal>::Ptr &normal2, PointCloud<PointXYZ>::Ptr &final_point) {
	visualization::PCLVisualizer::Ptr viewer(new visualization::PCLVisualizer("3d viewer"));
	int v1(0), v2(0);
	viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1);
	//visualization::PointCloudColorHandlerCustom<PointXYZ>sor_cloud1(sor_cloud, 0, 255, 0);
	visualization::PointCloudColorHandlerGenericField<PointXYZ>sor_cloud1(sor_cloud, "z");
	viewer->setBackgroundColor(255, 0, 255, v1);
	viewer->addPointCloud(sor_cloud, sor_cloud1, "cloud1", v1);
	viewer->addPointCloudNormals<PointXYZ, Normal>(sor_cloud, normal1, 100, 0.05, "normal1", v1);
	viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 5, "cloud1", v1);
	viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_LINE_WIDTH, 2, "normal1", v1);

	viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);
	viewer->setBackgroundColor(0, 0, 0, v2);
	visualization::PointCloudColorHandlerRandom<PointXYZ>voxel_color(voxel);
	viewer->addPointCloud(voxel, voxel_color, "cloud2", v2);
	viewer->addPointCloudNormals<PointXYZ, Normal>(voxel, normal2, 10, 0.05, "normal2", v2);
	viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 5, "cloud2", v2);
	viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_LINE_WIDTH, 2, "normal2", v2);
	viewer->spin();
	*final_point = *sor_cloud;

	
}
//主函数
int main(){
	PointCloud<PointXYZ>::Ptr cloud(new PointCloud<PointXYZ>);
	if (io::loadPCDFile("C:\\Users\\Administrator\\Desktop\\desk.pcd", *cloud) == -1){
		cout << "read false" << endl;
	}
	//噪声点去除
	PointCloud<PointXYZ>::Ptr sor_cloud(new PointCloud<PointXYZ>);
	StatisticalOutlierRemoval<PointXYZ> sor;
	sor.setInputCloud(cloud);
	sor.setMeanK(8);
	sor.setStddevMulThresh(1);
	sor.filter(*sor_cloud);
	// 体素化下采样
	PointCloud<PointXYZ>::Ptr voxel(new PointCloud<PointXYZ>);
	VoxelGrid<PointXYZ> vox;
	vox.setInputCloud(sor_cloud);
	vox.setLeafSize(0.01,0.01,0.01);
	vox.filter(*voxel);
	//法向量求解
	NormalEstimation<PointXYZ, Normal>ne;
	PointCloud<Normal>::Ptr normal1(new PointCloud<Normal>);
	PointCloud<Normal>::Ptr normal2(new PointCloud<Normal>);
	search::KdTree<PointXYZ>::Ptr tree(new search::KdTree<PointXYZ>);
	ne.setInputCloud(voxel);
	ne.setSearchMethod(tree);
	ne.setKSearch(5);
	ne.compute(*normal2);
	ne.setInputCloud(sor_cloud);
	ne.compute(*normal1);

	PointCloud<PointXYZ>::Ptr final_point(new PointCloud<PointXYZ>);
	visualization_point(sor_cloud, voxel, normal1, normal2,final_point);
	visualization::CloudViewer viewer1("windows");
	viewer1.showCloud(final_point);
	while (!viewer1.wasStopped())
	{
	}
	return 0;
}

如果出现以下结果，说明配置成功