win7下的PCL1.8-X64-VS2015配置（内含下载链接）

操作备忘录

注意：本文仅作学习交流使用，拒绝一切商业性目的使用，如有雷同或不足之处，敬请告知！

一、下载相关文件

1.下载PCL-1.8.0-AllInOne-msvc2015-win64.exe、属性表和PDB和测试pcd文件rabbit.pcd，其中，属性表可以不下载。

百度云链接：http://pan.baidu.com/s/1jHEtSY6  密码：nhbe

二、Windows7下安装步骤：

1.点击PCL-1.8.0-AllInOne-msvc2015-win64.exe一键安装，可以默认也可以自己选择安装路径，如本文所选择的路径D:\Program Files；

2.在安装过程中，OpenNI2在安装时会弹出界面。其他教程中说可以自己选择路径（选择第一步的），但本人安装时并没有弹出该界面，而是默认安装，但安装位置不对，需要手动将错误的文件夹下的OpenNI2移到D:\Program Files\PCL；

3.等待一段时间，则安装完成。

注意事项：在安装点击“我接收(I)”之后弹出来的对话框中一定要选择第二项AddPCL to the system PATH for all users：（如图）

三、系统配置步骤

1.点击win7的控制面板->系统->高级系统设置->在系统属性的“高级选项”卡下点击“环境变量”；

2.在系统子菜单里面找到“Path”，如图：

3.点击编辑，依次加入

D:\Program Files\PCL\bin;

D:\Program Files\PCL\3rdParty\FLANN\bin;

D:\ProgramFiles\PCL\3rdParty\Qhull\bin;

D:\Program;Files\PCL\3rdParty\VTK\bin;

D:\ProgramFiles\PCL\3rdParty\OpenNI2\Tools;

注意，第一项在“一键安装”时就已经添加。

4.重启电脑

四、VS2015工程配置步骤

1.打开VS2015，创建新的win32控制台工程，建好后将平台改成X64；

2.点击项目菜单的属性，如图：

3.在弹出的对话框中，

①    点击“包含目录”下拉箭头->编辑，添加文件路径：

完成后点击确定；

②点击“库目录”下拉箭头->编辑，添加文件路径：

完成后点击确定；

4.点击连接器->输入->附加依赖项：

点击下拉箭头->编辑，添加下列文件：

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_stereo_release.lib

pcl_surface_release.lib

pcl_tracking_release.lib

pcl_visualization_release.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

flann.lib

flann_s.lib

flann-gd.lib

flann_cpp_s.lib

flann_cpp_s-gd.lib

flann_s-gd.lib

qhull.lib

qhull_d.lib

qhullcpp_d.lib

qhullstatic.lib

qhullstatic_d.lib

qhullstatic_r.lib

qhullstatic_r_d.lib

qhull_p.lib

qhull_p_d.lib

qhull_r.lib

qhull_r_d.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

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

vtkRenderingContextOpenGL-7.0.lib

vtkRenderingCore-7.0.lib

vtkRenderingFreeType-7.0.lib

vtkRenderingImage-7.0.lib

vtkRenderingLabel-7.0.lib

vtkRenderingLOD-7.0.lib

vtkRenderingOpenGL-7.0.lib

vtkRenderingVolume-7.0.lib

vtkRenderingVolumeOpenGL-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

vtkzlib-7.0.lib

完成后点击确定；

注意：上面为在release下运行的文件，如果想在debug下运行，则将其中的release改成debug，r改成gd即可（其实对应的所有文件都在PCL的各个lib中）；

5.点击属性页的“确定”。

五、程序实际测试

将rabbit.pcd放到与main.cpp同一位置的文件夹下（工程文件夹）

程序代码：

#include<pcl/visualization/cloud_viewer.h>#include<iostream>//标准C++库中的输入输出类相关头文件。#include<pcl/io/io.h>#include<pcl/io/pcd_io.h>//pcd 读写类相关的头文件。#include<pcl/io/ply_io.h>#include<pcl/point_types.h> //PCL中支持的点类型头文件。int user_data;using std::cout;void viewerOneOff(pcl::visualization::PCLVisualizer& viewer){viewer.setBackgroundColor(1.0, 0.5, 1.0);   //设置背景颜色}int main(){pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);char strfilepath[256] = "rabbit.pcd";if (-1 == pcl::io::loadPCDFile(strfilepath, *cloud)){cout << "error input!" << endl;return -1;}cout << cloud->points.size() << endl;pcl::visualization::CloudViewer viewer("Cloud Viewer");     //创建viewer对象viewer.showCloud(cloud);viewer.runOnVisualizationThreadOnce(viewerOneOff);system("pause");return 0;}/*#include<vector>#include<fstream>using namespace std;struct Node {float x;float y;float z;};若文件格式不是pcd，而是一般的点云格式，则可以用vector来转换ifstream in0;in0.open(strfilepath);if (!in0.is_open()){cout << "error open!" << endl;return -1;}vector<Node> points;points.clear();Node tmp;while (in0 >> tmp.x >> tmp.y >> tmp.z)points.push_back(tmp);cout << points.size() << endl;pcl::PointXYZ cltmp;for (size_t i = 0; i < points.size(); ++i){cltmp.x = points[i].x;cltmp.y = points[i].y;cltmp.z = points[i].z;cloud->points.push_back(cltmp);}*/

实验结果：