Windows10下VS2013+PCL1.8环境配置

刚换了机子配PCL，Windows下配环境实在是太蛋疼了，上次没有记录配置的过程，所以又得各种搜教程，关键是很多博客上写的教程都不对啊！！！不知道写出一个不对的配置方法给人看是怎样的一种心态。。这次一定要详细记下来：

配置过程

1. 下载安装PCL

   下载PCL-1.8.0-AllInOne-msvc2013-win64并安装，一直下一步就好。注意：中途会弹出安装OpenNI的框，我们将OpenNI安装在PCL安装目录下3rdParty\OpenNI2里。
   下载链接：http://pan.baidu.com/s/1hrAhLK4 密码：1evw

2. 配置系统变量：

   安装好后，会自动出现如下几个变量：
   
   
   接着，我们需要自己添加如下几个变量：
   首先是path，第一个是安装完自己加的，我们需要手动添加其他三个：
   

3. 配置项目工程属性文件

   （1）新建一个空项目，将项目设置成64位，这个没什么好说的。
   （2）切换属性管理器，在Debug|64下添加新项目属性表，取名PCL。
   左侧VC++目录，包含目录设置如图：
   
   左侧VC++目录，库目录设置如图：
   
   左侧链接器-输入，附加依赖项：
   
   配置如下：
   pcl_apps_debug.lib
   pcl_common_debug.lib
   pcl_features_debug.lib
   pcl_filters_debug.lib
   pcl_io_ply_debug.lib
   pcl_io_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_simulation_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
   flann-gd.lib
   flann_cpp_s-gd.lib
   flann_s-gd.lib
   qhull-gd.lib
   qhullcpp-gd.lib
   qhullstatic-gd.lib
   qhullstatic_r-gd.lib
   qhull_p-gd.lib
   qhull_r-gd.lib
   vtkalglib-7.0-gd.lib
   vtkChartsCore-7.0-gd.lib
   vtkCommonColor-7.0-gd.lib
   vtkCommonComputationalGeometry-7.0-gd.lib
   vtkCommonCore-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
   vtkDomainsChemistryOpenGL2-7.0-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
   vtkglew-7.0-gd.lib
   vtkGUISupportQt-7.0-gd.lib
   vtkGUISupportQtSQL-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
   vtkRenderingQt-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
   vtkViewsQt-7.0-gd.lib
   vtkzlib-7.0-gd.lib

上边的包含目录，库目录按你自己的来，附加依赖项有些库版本不同，不同的建议去搜其他的。。

1. 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)
   （为了好显示我这里换了一下行，你就不用换行了，一行放进去，可以的！）

测试一下

新建一个cpp文件，输入下列代码：

#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("my_point_cloud.pcd", *cloud);pcl::visualization::CloudViewer viewer("Cloud Viewer");//blocks until the cloud is actually renderedviewer.showCloud(cloud);//use the following functions to get access to the underlying more advanced/powerful//PCLVisualizer//This will only get called onceviewer.runOnVisualizationThreadOnce(viewerOneOff);//This will get called once per visualization iterationviewer.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;
}

运行之后出现图像，鼠标滚轮可以调大小，能看到一个球证明你成功了！
好了，把那个属性文件保存出来，每次用的时候在新建项目里导入就可以了……