VS2012+PCL1.7.2+OpenNI

首先安装VS2012，我是64位的电脑，但上面所有都用32位的软件和库

VS2012下载链接——VS2012_ULT_chs

PCL1.7.2下载链接——PCL-1.7.2-AllInOne-msvc2012-win32

OpenNI下载链接——OpenNI-Win32-1.5.4-Dev

OpenNI的安装直接安装，在环境中会自动配置，我的安装路径在D盘，将D:\PCLsit\OpenNI\Bin加入Path。

PCL配置如下：

1、在系统变量中添加PCL_ROOT变量，路径为D:\PCLsit\PCL 1.7.2，在path中添加D:\PCLsit\PCL 1.7.2\bin;%PCL_ROOT%\3rdParty\FLANN\bin;%PCL_ROOT%\3rdParty\Qhull\bin;%PCL_ROOT%\3rdParty\VTK\bin等环境变量。

2、新建工程，添加源代码：

#include "stdafx.h"#include <pcl/visualization/cloud_viewer.h>#include <iostream>#include <pcl/io/io.h>#include <pcl/io/pcd_io.h>int user_data;int main (){pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>); //modifiedpcl::io::loadPCDFile ("test_pcd3.pcd", *cloud);    pcl::visualization::CloudViewer viewer("Cloud Viewer");    //blocks until the cloud is actually rendered    viewer.showCloud(cloud);system("pause");    return 0;}

应该能够用，test_pcd3.pcd下载。将其放在project文件同级的目录下。

3、视图——》属性管理器——》Microsoft.Cpp.Win32.user——》双击——》包含目录配置

4、库目录配置

5、链接器——》输入——》附加依赖项

pcl_common_debug.libpcl_features_debug.libpcl_filters_debug.libpcl_io_debug.libpcl_io_ply_debug.libpcl_kdtree_debug.libpcl_keypoints_debug.libpcl_ml_debug.libpcl_octree_debug.libpcl_outofcore_debug.libpcl_people_debug.libpcl_recognition_debug.libpcl_registration_debug.libpcl_sample_consensus_debug.libpcl_search_debug.libpcl_segmentation_debug.libpcl_stereo_debug.libpcl_surface_debug.libpcl_tracking_debug.libpcl_visualization_debug.liblibboost_atomic-vc110-mt-1_55.liblibboost_atomic-vc110-mt-gd-1_55.liblibboost_chrono-vc110-mt-1_55.liblibboost_chrono-vc110-mt-gd-1_55.liblibboost_context-vc110-mt-1_55.liblibboost_context-vc110-mt-gd-1_55.liblibboost_coroutine-vc110-mt-1_55.liblibboost_coroutine-vc110-mt-gd-1_55.liblibboost_date_time-vc110-mt-1_55.liblibboost_date_time-vc110-mt-gd-1_55.liblibboost_exception-vc110-mt-1_55.liblibboost_exception-vc110-mt-gd-1_55.liblibboost_filesystem-vc110-mt-1_55.liblibboost_filesystem-vc110-mt-gd-1_55.liblibboost_graph_parallel-vc110-mt-1_55.liblibboost_graph_parallel-vc110-mt-gd-1_55.liblibboost_graph-vc110-mt-1_55.liblibboost_graph-vc110-mt-gd-1_55.liblibboost_iostreams-vc110-mt-1_55.liblibboost_iostreams-vc110-mt-gd-1_55.liblibboost_locale-vc110-mt-1_55.liblibboost_locale-vc110-mt-gd-1_55.liblibboost_log_setup-vc110-mt-1_55.liblibboost_log_setup-vc110-mt-gd-1_55.liblibboost_log-vc110-mt-1_55.liblibboost_log-vc110-mt-gd-1_55.liblibboost_math_c99-vc110-mt-1_55.liblibboost_math_c99-vc110-mt-gd-1_55.liblibboost_math_c99f-vc110-mt-1_55.liblibboost_math_c99f-vc110-mt-gd-1_55.liblibboost_math_c99l-vc110-mt-1_55.liblibboost_math_c99l-vc110-mt-gd-1_55.liblibboost_math_tr1-vc110-mt-1_55.liblibboost_math_tr1-vc110-mt-gd-1_55.liblibboost_math_tr1f-vc110-mt-1_55.liblibboost_math_tr1f-vc110-mt-gd-1_55.liblibboost_math_tr1l-vc110-mt-1_55.liblibboost_math_tr1l-vc110-mt-gd-1_55.liblibboost_mpi-vc110-mt-1_55.liblibboost_mpi-vc110-mt-gd-1_55.liblibboost_prg_exec_monitor-vc110-mt-1_55.liblibboost_prg_exec_monitor-vc110-mt-gd-1_55.liblibboost_program_options-vc110-mt-1_55.liblibboost_program_options-vc110-mt-gd-1_55.liblibboost_random-vc110-mt-1_55.liblibboost_random-vc110-mt-gd-1_55.liblibboost_regex-vc110-mt-1_55.liblibboost_regex-vc110-mt-gd-1_55.liblibboost_serialization-vc110-mt-1_55.liblibboost_serialization-vc110-mt-gd-1_55.liblibboost_signals-vc110-mt-1_55.liblibboost_signals-vc110-mt-gd-1_55.liblibboost_system-vc110-mt-gd-1_55.liblibboost_test_exec_monitor-vc110-mt-1_55.liblibboost_test_exec_monitor-vc110-mt-gd-1_55.liblibboost_thread-vc110-mt-gd-1_55.liblibboost_timer-vc110-mt-1_55.liblibboost_timer-vc110-mt-gd-1_55.liblibboost_unit_test_framework-vc110-mt-1_55.liblibboost_unit_test_framework-vc110-mt-gd-1_55.liblibboost_wave-vc110-mt-1_55.liblibboost_wave-vc110-mt-gd-1_55.liblibboost_wserialization-vc110-mt-1_55.liblibboost_wserialization-vc110-mt-gd-1_55.libflann.libflann_cpp_s.libflann_cpp_s-gd.libflann_s.libflann_s-gd.libflann-gd.libqhull.libqhull_d.libqhull_p.libqhull_p_d.libqhullcpp.libqhullcpp_d.libqhullstatic.libqhullstatic_d.libqhullstatic_p.libqhullstatic_p_d.libLSDyna-gd.libMapReduceMPI-gd.libmpistubs-gd.libvtkalglib-gd.libvtkCharts-gd.libvtkCommon-gd.libvtkDICOMParser-gd.libvtkexoIIc-gd.libvtkexpat-gd.libvtkFiltering-gd.libvtkfreetype-gd.libvtkftgl-gd.libvtkGenericFiltering-gd.libvtkGeovis-gd.libvtkGraphics-gd.libvtkhdf5_hl-gd.libvtkhdf5-gd.libvtkHybrid-gd.libvtkImaging-gd.libvtkInfovis-gd.libvtkIO-gd.libvtkjpeg-gd.libvtklibxml2-gd.libvtkmetaio-gd.libvtkNetCDF_cxx-gd.libvtkNetCDF-gd.libvtkpng-gd.libvtkproj4-gd.libvtkRendering-gd.libvtksqlite-gd.libvtksys-gd.libvtktiff-gd.libvtkverdict-gd.libvtkViews-gd.libvtkVolumeRendering-gd.libvtkWidgets-gd.libvtkzlib-gd.lib

6、似乎都完成了，点击编译运行，可能会出现无法识别“LSDyna-gd.lib”文件等错误，其原因是VTK没有配置正确，按下面操作试试。

点击确定，再运行试试，应该可以出效果了，是一只点云兔