PCL VS2010 配置

 由于之前我的电脑配置opencv,用cmake配置,opencv.sln build的时间太长，太麻烦，而且cmake很容易出错，因此在这儿我介绍一种简单容易的PCL VS2010配置方法，和大家分享，这种方法比官网上容易很多。自己花了很多时间才完全弄懂，希望后面看到的人能省下一些时间。

1.下载allinone安装包，可在官网上直接下载，注意下载与VS2010相同的版本，比如32位的VS下载32位的allinone安装包，64位的下载64的安装包。

官网下载地址：http://www.pointclouds.org/downloads/windows.html

2.安装路径，默认安装路径为：C:\program files;但是为了不增加C盘负担，可以自定义路径，我安装在了D盘。

比如安装在了：D:\Program Files installed

安装完毕后会有3个文件夹：PrimeSense ， OpenNI， PCL 1.6.0

3.打开VS2010 ,创建一个新的工程，点击左侧窗口下方的属性管理器，双击Microsoft.Cpp.win32.user，弹出属性页。点击VC++目录里，在包含目录里添加：

D:\Program Files installed\PCL 1.6.0\3rdParty\Boost\include
D:\Program Files installed\PCL 1.6.0\3rdParty\Eigen\include
D:\Program Files installed\PCL 1.6.0\3rdParty\Flann\include
D:\Program Files installed\PCL 1.6.0\3rdParty\Qhull\include
D:\Program Files installed\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8
D:\Program Files installed\PCL 1.6.0\include\pcl-1.6
D:\Program Files installed\OpenNI\Include

在库目录里添加：

D:\Program Files installed\PCL 1.6.0\3rdParty\Boost\lib
D:\Program Files installed\PCL 1.6.0\3rdParty\Flann\lib
D:\Program Files installed\PCL 1.6.0\3rdParty\Qhull\lib
D:\Program Files installed\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8
D:\Program Files installed\PCL 1.6.0\lib
D:\Program Files installed\OpenNI\Lib

点击C/C++——>常规

点开附加包含目录,添加：

D:\Program Files installed\PCL 1.6.0\3rdParty\Boost\include
D:\Program Files installed\PCL 1.6.0\3rdParty\Eigen\include
D:\Program Files installed\PCL 1.6.0\3rdParty\Flann\include
D:\Program Files installed\PCL 1.6.0\3rdParty\Qhull\include
D:\Program Files installed\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8
D:\Program Files installed\PCL 1.6.0\include\pcl-1.6
D:\Program Files installed\OpenNI\Include；

注意如果在这儿不添加，会出现问题：tree_flann.h里面会出现错误，这个错误我找了好久才弄明白。

如果你使用的程序不包含头文件tree_flann.h，你也可以不添加附加包含目录

点开链接器->常规

在附加库目录中添加：

D:\Program Files installed\PCL 1.6.0\3rdParty\Boost\lib
D:\Program Files installed\PCL 1.6.0\3rdParty\Flann\lib
D:\Program Files installed\PCL 1.6.0\3rdParty\Qhull\lib
D:\Program Files installed\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8
D:\Program Files installed\PCL 1.6.0\lib
D:\Program Files installed\OpenNI\Li

确定添加后关闭，在双击Debug|win32

链接器->输入->附加依赖项里边添加：
opengl32.lib
pcl_kdtree_debug.lib
pcl_io_debug.lib
pcl_search_debug.lib
pcl_segmentation_debug.lib
pcl_apps_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_visualization_debug.lib
pcl_common_debug.lib
pcl_io_ply_debug.lib
pcl_keypoints_debug.lib
pcl_octree_debug.lib
pcl_registration_debug.lib
pcl_sample_consensus_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
flann_cpp_s-gd.lib
flann_cuda_s-gd.lib
flann_s-gd.lib
flann-gd.lib
libboost_system-vc100-mt-gd-1_47.lib
libboost_filesystem-vc100-mt-gd-1_47.lib
libboost_thread-vc100-mt-gd-1_47.lib
libboost_date_time-vc100-mt-gd-1_47.lib
libboost_iostreams-vc100-mt-gd-1_47.lib
vtkalglib-gd.lib
vtkCharts-gd.lib
vtkCommon-gd.lib
vtkDICOMParser-gd.lib
vtkexoIIc-gd.lib
vtkexpat-gd.lib
vtkFiltering-gd.lib
vtkfreetype-gd.lib
vtkftgl-gd.lib
vtkGenericFiltering-gd.lib
vtkGeovis-gd.lib
vtkGraphics-gd.lib
vtkhdf5-gd.lib
vtkHybrid-gd.lib
vtkImaging-gd.lib
vtkInfovis-gd.lib
vtkIO-gd.lib
vtkjpeg-gd.lib
vtklibxml2-gd.lib
vtkmetaio-gd.lib
vtkNetCDF-gd.lib
vtkNetCDF_cxx-gd.lib
vtkpng-gd.lib
vtkproj4-gd.lib
vtkRendering-gd.lib
vtksqlite-gd.lib
vtksys-gd.lib
vtktiff-gd.lib
vtkverdict.lib
vtkViews.lib
vtkVolumeRendering.lib
vtkWidgets.lib
vtkzlib.lib

确定添加后关闭，在双击Release|win32

链接器->输入->附加依赖项里边添加：

opengl32.lib
pcl_kdtree_release.lib
pcl_io_release.lib
pcl_search_release.lib
pcl_segmentation_release.lib
pcl_apps_release.lib
pcl_features_release.lib
pcl_filters_release.lib
pcl_visualization_release.lib
pcl_common_release.lib
flann_cpp_s.lib
flann.lib
flann_cuda_s.lib
flann_s.lib
libboost_system-vc100-mt-1_47.lib
libboost_filesystem-vc100-mt-1_47.lib
libboost_thread-vc100-mt-1_47.lib
libboost_date_time-vc100-mt-1_47.lib
libboost_iostreams-vc100-mt-1_47.lib
vtkalglib.lib
vtkCharts.lib
vtkCommon.lib
vtkDICOMParser.lib
vtkexoIIc.lib
vtkexpat.lib
vtkFiltering.lib
vtkfreetype.lib
vtkftgl.lib
vtkGenericFiltering.lib
vtkGeovis.lib
vtkGraphics.lib
vtkhdf5.lib
vtkHybrid.lib
vtkImaging.lib
vtkInfovis.lib
vtkIO.lib
vtkjpeg.lib
vtklibxml2.lib
vtkmetaio.lib
vtkNetCDF.lib
vtkNetCDF_cxx.lib
vtkpng.lib
vtkproj4.lib
vtkRendering.lib
vtksqlite.lib
vtksys.lib
vtktiff.lib
vtkverdict.lib
vtkViews.lib
vtkVolumeRendering.lib
vtkWidgets.lib
vtkzlib.lib

4.右键点击计算机属性，高级系统设置，点开环境变量，在用户变量里的path变量里添加值：

D:\Program Files installed\PCL 1.6.0\bin;D:\Program Files installed\PCL 1.6.0\3rdParty\Flann\bin;D:\Program Files installed\PCL 1.6.0\3rdParty\Qhull\bin

如果你的用户变量里没有path，那么新建一个path变量，在添加就可以了。

配置完成，运行例程检查是否成功配置.

源代码可以在官网上获得。