工具：

pcl各版本下載地址

下載適當的版本，這里有32位和64位的，是要看你的VS的編譯器是多少位的，并不是操作系統。

安裝部分，因為是以前裝的就不截圖了，就只把注意事項列出來：

1、Add PCL to the system Path for all users

2、選擇安裝路徑，建議修改，默認安裝路徑中的Program files和PCL 1.8.1這兩個文件名中都有空格，在qt中無法識別

3、安裝的組件：全選

4、安裝OpenNI2，安裝到PCL安裝目錄下的/3rdParty/OpenNI2/下

等待安裝完成。

解壓上圖的pdb到PCL安裝目錄的下的bin目錄下

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環境變量配置：

PCL_ROOT在勾選上面的第一項后回自動生成

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VS配置：

新建一個win32控制臺程序

打開屬性管理器

Debug|x64下 添加新項目屬性表：PCLViewer（名字自己隨便取）

右鍵PCLViewer->屬性

VC++目錄->包含目錄 右邊下拉->編輯

庫目錄 右邊下拉->編輯

C/C++->預處理器->預處理器定義添加兩項：?_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS

C/C++->SDL檢查 ：設為否

鏈接器->輸入->附加依賴項?

這是pcl-1.8.1的附加依賴項，不同版本，里面的lib名可能不一樣，需要自己到安裝目錄下獲取lib文件名

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介紹一下我把文件名輸出到txt的方法：

?新建一個txt文件，在文件中加入

@echo off
dir /b *.lib > filename.txt
dir /b *debug.lib > filename_debug.txt
dir /b *-gd*.lib > filename_gd.txt
dir /b *_d*.lib > filename_d.txt
dir /b *release.lib > filename_release.txt
exit

保存，修改文件名為：filename.bat

把這個文件拷到你想要獲取文件名的目錄下，雙擊運行

debug，-gd，_d是不同庫中debug的命名規則

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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-vc140-mt-gd-1_64.lib libboost_graph_parallel-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_numpy-vc140-mt-gd-1_64.lib libboost_numpy3-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_python-vc140-mt-gd-1_64.lib libboost_python3-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 flann-gd.lib flann_cpp-gd.lib flann_cpp_s-gd.lib flann_s-gd.lib OpenNI2.lib qhullcpp_d.lib qhullstatic_d.lib qhullstatic_r_d.lib qhull_d.lib qhull_p_d.lib qhull_r_d.lib vtkalglib-8.0-gd.lib vtkChartsCore-8.0-gd.lib vtkCommonColor-8.0-gd.lib vtkCommonComputationalGeometry-8.0-gd.lib vtkCommonCore-8.0-gd.lib vtkCommonDataModel-8.0-gd.lib vtkCommonExecutionModel-8.0-gd.lib vtkCommonMath-8.0-gd.lib vtkCommonMisc-8.0-gd.lib vtkCommonSystem-8.0-gd.lib vtkCommonTransforms-8.0-gd.lib vtkDICOMParser-8.0-gd.lib vtkDomainsChemistry-8.0-gd.lib vtkexoIIc-8.0-gd.lib vtkexpat-8.0-gd.lib vtkFiltersAMR-8.0-gd.lib vtkFiltersCore-8.0-gd.lib vtkFiltersExtraction-8.0-gd.lib vtkFiltersFlowPaths-8.0-gd.lib vtkFiltersGeneral-8.0-gd.lib vtkFiltersGeneric-8.0-gd.lib vtkFiltersGeometry-8.0-gd.lib vtkFiltersHybrid-8.0-gd.lib vtkFiltersHyperTree-8.0-gd.lib vtkFiltersImaging-8.0-gd.lib vtkFiltersModeling-8.0-gd.lib vtkFiltersParallel-8.0-gd.lib vtkFiltersParallelImaging-8.0-gd.lib vtkFiltersPoints-8.0-gd.lib vtkFiltersProgrammable-8.0-gd.lib vtkFiltersSelection-8.0-gd.lib vtkFiltersSMP-8.0-gd.lib vtkFiltersSources-8.0-gd.lib vtkFiltersStatistics-8.0-gd.lib vtkFiltersTexture-8.0-gd.lib vtkFiltersTopology-8.0-gd.lib vtkFiltersVerdict-8.0-gd.lib vtkfreetype-8.0-gd.lib vtkGeovisCore-8.0-gd.lib vtkgl2ps-8.0-gd.lib vtkGUISupportQt-8.0-gd.lib vtkGUISupportQtOpenGL-8.0-gd.lib vtkGUISupportQtSQL-8.0-gd.lib vtkhdf5-8.0-gd.lib vtkhdf5_hl-8.0-gd.lib vtkImagingColor-8.0-gd.lib vtkImagingCore-8.0-gd.lib vtkImagingFourier-8.0-gd.lib vtkImagingGeneral-8.0-gd.lib vtkImagingHybrid-8.0-gd.lib vtkImagingMath-8.0-gd.lib vtkImagingMorphological-8.0-gd.lib vtkImagingSources-8.0-gd.lib vtkImagingStatistics-8.0-gd.lib vtkImagingStencil-8.0-gd.lib vtkInfovisCore-8.0-gd.lib vtkInfovisLayout-8.0-gd.lib vtkInteractionImage-8.0-gd.lib vtkInteractionStyle-8.0-gd.lib vtkInteractionWidgets-8.0-gd.lib vtkIOAMR-8.0-gd.lib vtkIOCore-8.0-gd.lib vtkIOEnSight-8.0-gd.lib vtkIOExodus-8.0-gd.lib vtkIOExport-8.0-gd.lib vtkIOExportOpenGL-8.0-gd.lib vtkIOGeometry-8.0-gd.lib vtkIOImage-8.0-gd.lib vtkIOImport-8.0-gd.lib vtkIOInfovis-8.0-gd.lib vtkIOLegacy-8.0-gd.lib vtkIOLSDyna-8.0-gd.lib vtkIOMINC-8.0-gd.lib vtkIOMovie-8.0-gd.lib vtkIONetCDF-8.0-gd.lib vtkIOParallel-8.0-gd.lib vtkIOParallelXML-8.0-gd.lib vtkIOPLY-8.0-gd.lib vtkIOSQL-8.0-gd.lib vtkIOTecplotTable-8.0-gd.lib vtkIOVideo-8.0-gd.lib vtkIOXML-8.0-gd.lib vtkIOXMLParser-8.0-gd.lib vtkjpeg-8.0-gd.lib vtkjsoncpp-8.0-gd.lib vtklibharu-8.0-gd.lib vtklibxml2-8.0-gd.lib vtklz4-8.0-gd.lib vtkmetaio-8.0-gd.lib vtkNetCDF-8.0-gd.lib vtknetcdf_c++-gd.lib vtkoggtheora-8.0-gd.lib vtkParallelCore-8.0-gd.lib vtkpng-8.0-gd.lib vtkproj4-8.0-gd.lib vtkRenderingAnnotation-8.0-gd.lib vtkRenderingContext2D-8.0-gd.lib vtkRenderingContextOpenGL-8.0-gd.lib vtkRenderingCore-8.0-gd.lib vtkRenderingFreeType-8.0-gd.lib vtkRenderingGL2PS-8.0-gd.lib vtkRenderingImage-8.0-gd.lib vtkRenderingLabel-8.0-gd.lib vtkRenderingLIC-8.0-gd.lib vtkRenderingLOD-8.0-gd.lib vtkRenderingOpenGL-8.0-gd.lib vtkRenderingQt-8.0-gd.lib vtkRenderingVolume-8.0-gd.lib vtkRenderingVolumeOpenGL-8.0-gd.lib vtksqlite-8.0-gd.lib vtksys-8.0-gd.lib vtktiff-8.0-gd.lib vtkverdict-8.0-gd.lib vtkViewsContext2D-8.0-gd.lib vtkViewsCore-8.0-gd.lib vtkViewsInfovis-8.0-gd.lib vtkViewsQt-8.0-gd.lib vtkzlib-8.0-gd.lib

release版同理：只不過鏈接器那兒需要修改，debug版的lib改成release版的lib??

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環境測試：

#include <pcl\visualization\pcl_visualizer.h> #include <pcl\point_cloud.h> #include <pcl\point_types.h>int main() {//初始化點云pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);//設置點云大小cloud->points.resize(200);//填充點云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);}//聲明視窗boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));//設置視窗背景色viewer->setBackgroundColor(0, 0, 0);//預處理點云顏色pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> magenta(cloud, 255, 0, 255);//把點云加載到視窗viewer->addPointCloud(cloud, magenta, "cloud");//設置點云大小viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "cloud");//顯示viewer->spin(); }

運行結果：

總結

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