计算机图形学的开始……

安装visual studio

下载visual studio 2013 安装即可，除了安装路径改到想安装的地方，其他保持默认即可。
mistake：
1. 若最终安装出现红色叹号，在控制面板中选择此程序，点击更改，选择repair，修复后重启电脑即可。
2. 若打开程序出现无法加载×××包或者无法新建项目，在控制面板中选择此程序，点击’更改’，选择repair，修复后重启电脑即可。

安装PCL-1.8.0-AllInOne-msvc2013-win32

版本说明：
本安装包由VS2013编译的32位PCL1.8.0rc1版本。仅可配置于VS2013，32位版本的程序上。

1.下载安装PCL

安装一键安装包时，将安装目录改为了”D:\software install\PCL 1.8.0”(自选)，注意：之后会弹出openni的安装界面，路径选择为”D:\software install\PCL 1.8.0\3rdParty\OpenNI2”。

2.配置环境变量

安装完成后，环境变量中会多出以下4个项目：

接着，我们自己还需要添加几个环境变量：

;D:\software install\PCL 1.8.0\bin;%PCL_ROOT%\3rdParty\FLANN\bin;%PCL_ROOT%\3rdParty\VTK\bin;%OPENNI2_REDIST%

3. copy pdb 文件

　　将下载的安装文件下的“PCL-1.8.0-AllInOne-msvc2013-win32-pdb”文件夹下的pdb文件copy到PCL的安装目录下的”PCL 1.8.0\bin”文件夹下。

4. 配置项目工程属性文件

（1）新建一个空项目，将项目设置成32位。
（2）在“视图 -> 其他窗口 ->属性管理器”中，打开属性管理器；
在Debug|win32下添加新项目属性表，取名PCL。
　　　　
双击PCL打开：
在PCL属性页 -> VC++目录 -> 包含目录 中添加如下目录：

在VC++目录 -> 库目录 设置如下：

在左侧 链接器 -> 输入 -> 附加依赖项:

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-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
vtkalglib-7.0-gd.lib
vtkChartsCore-7.0-gd.lib
vtkCommonCore-7.0-gd.lib
vtkCommonColor-7.0-gd.lib
vtkCommonComputationalGeometry-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
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
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
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
vtkzlib-7.0-gd.lib
vtkGUISupportQt-7.0-gd.lib
vtkRenderingQt-7.0-gd.lib
vtkViewsQt-7.0-gd.lib
flann_cpp_s-gd.lib
qhullstatic-gd.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

同理配置release文件

---

attention
若以上配置出问题或嫌麻烦可直接调用安装包中已配置好的props文件，
将PCLDebug.props文件添加到Debug|Win32的属性表中，
将PCLRelease.props文件添加到Release|Win32的属性表中。即可。

---

（3）右键工程名，进入工程属性页，依次选中：
Configuration Properties(配置管理器)->C/C++->Preprocessor(预处理器)->Preprocessor Definitions(预处理定义) 中添加如下两项：

_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS

（4）项目环境目录配置

右键解决方案，属性，左侧配置属性–调试，右侧环境设置为：

PATH=$(PCL_ROOT)\bin;$(PCL_ROOT)\3rdParty\FLANN\bin;$(PCL_ROOT)\3rdParty\VTK\bin;$(PCL_ROOT)\Qhull\bin;$(PCL_ROOT)\3rdParty\OpenNI2\Tools;$(PATH) 

4 测试代码

直接在工程中添加main.cpp文件后编译运行如下代码

#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("D:/visual studio Projects/Project_PCL/my_point_cloud.pcd", *cloud);   //记得把路径换一下

    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;
}

5 添加my_point_cloud.pcd文件

在工程目录下D:/visual studio Projects/Project_PCL/(Project_PCL为我的工程名字)新建txt，添加一下数据后，修改名字和后缀即可。

# .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  
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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  
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0.086993 -0.29568 0 4.808e+06  
0.044924 -0.3154 0 4.808e+06  
-0.0066125 -0.02428 0 4.808e+06  
-0.057362 -0.02428 0 4.808e+06  
-0.0066125 -0.03515 0 4.808e+06  
-0.057362 -0.03515 0 4.808e+06  
-0.10653 -0.02428 0 4.808e+06  
-0.15266 -0.025282 0 4.808e+06  
-0.10653 -0.03515 0 4.808e+06  
-0.16036 -0.037257 0 4.808e+06  
0.0083286 -0.1259 0 4.2108e+06  
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  
-0.23604 -0.10652 0 4.808e+06  
-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  
-0.050817 -0.29595 0 4.808e+06  
-0.10306 -0.28653 0 4.808e+06  
-0.1319 -0.2831 0 4.808e+06  
-0.18716 -0.20571 0 4.808e+06  
-0.18369 -0.23729 0 4.808e+06  

6 运行

运行，首次运行很慢，需要耐心等待，如果窗口一闪而过，请使用CTRL+F5【滑动鼠标可以进行缩放和旋转】
若运行时出现3个色块 滑动鼠标调节大小即可。

感谢以下博客提供的参考：
http://blog.csdn.net/chentravelling/article/details/43451589
http://blog.csdn.net/u011197534/article/details/52960394
http://blog.csdn.net/u012750702/article/details/53046210