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安装PCL库：

PCL安装包/PCL（解压） 运行 PCL-1.8.1-Allinone 应用程序 选择 Add PCL to he system PATH for all users 忽略警告 完成。 解压 PCL安装包中的pdb文件 将其中的全部pbd文件 粘贴到安装路径 D:\PCL 1.8.0\bin 文件夹下。

配置环境：

win10中找到 控制面板—》系统—》高级系统设置—》环境变量——系统变量 在系统变量中找到Path添加上以下路径 %PCL_ROOT%\bin %PCL_ROOT%\3rdParty\FLANN\bin %PCL_ROOT%\3rdParty\Qhull\bin %PCL_ROOT%\3rdParty\OpenNI2\Tools %PCL_ROOT%\3rdParty\VTK\bin

完成PCL安装！

VS中配置PCL：

1. 新建项目

注意为win32控制台应用程序 2. 更改debug为 x64 3. 打开属性管理器 （视图——》其他窗口——》属性管理器） 在Debug|x64 添加新项目属性 在Debug|x64下 双击上一步新建的属性 打开属性页 4. 在VC++目录下

① 包含目录

（具体路径根据安装位置进行选择）

D:\PCL1.8.1\PCL1.8.1\include

D:\PCL1.8.1\PCL1.8.1\include\pcl-1.8.

D:\PCL1.8.1\PCL1.8.1\3rdParty\Boost\include

D:\PCL1.8.1\PCL1.8.1\3rdParty\Boost\include\boost-1_64

D:\PCL1.8.1\PCL1.8.1\3rdParty\Eigen\eigen3

D:\PCL1.8.1\PCL1.8.1\3rdParty\FLANN\include

D:\PCL1.8.1\PCL1.8.1\3rdParty\FLANN\include\flann

D:\PCL1.8.1\PCL1.8.1\3rdParty\OpenNI2\Include

D:\PCL1.8.1\PCL1.8.1\3rdParty\Qhull\include

D:\PCL1.8.1\PCL1.8.1\3rdParty\VTK\include\vtk-8.0

② 库目录

（具体路径根据安装位置进行选择）

D:\PCL1.8.1\PCL1.8.1\lib

D:\PCL1.8.1\PCL1.8.1\3rdParty\Boost\lib

D:\PCL1.8.1\PCL1.8.1\3rdParty\Boost\include\boost-1_64

D:\PCL1.8.1\PCL1.8.1\3rdParty\FLANN\lib

D:\PCL1.8.1\PCL1.8.1\3rdParty\OpenNI2\Lib

D:\PCL1.8.1\PCL1.8.1\3rdParty\Qhull\lib

D:\PCL1.8.1\PCL1.8.1\3rdParty\VTK\lib

5. 链接器—》输入—》附加依赖项

(配置debug与release时仅附加依赖项不同，其余全部相同)

！！！

注意，其中vtknetcdf_c+±gd.lib 会因为csdn的输入设置，复制时自动变成叠在一起的±，造成出错！记得修改 ！！！

Debug:

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_parallel-vc140-mt-gd-1_64.lib

libboost_graph-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_numpy3-vc140-mt-gd-1_64.lib

libboost_numpy-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_python3-vc140-mt-gd-1_64.lib

libboost_python-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

vtkzlib-8.0-gd.lib

vtkViewsContext2D-8.0-gd.lib

vtkhdf5_hl-8.0-gd.lib

vtkFiltersProgrammable-8.0-gd.lib

vtkIOMovie-8.0-gd.lib

vtkexpat-8.0-gd.lib

vtkRenderingLOD-8.0-gd.lib

vtkIOPLY-8.0-gd.lib

vtkpng-8.0-gd.lib

vtkIOVideo-8.0-gd.lib

vtkRenderingImage-8.0-gd.lib

vtkFiltersVerdict-8.0-gd.lib

vtkjpeg-8.0-gd.lib

vtkInteractionImage-8.0-gd.lib

vtkverdict-8.0-gd.lib

vtkoggtheora-8.0-gd.lib

vtkImagingStatistics-8.0-gd.lib

vtkCommonSystem-8.0-gd.lib

vtkFiltersParallelImaging-8.0-gd.lib

vtkFiltersTexture-8.0-gd.lib

vtkCommonMisc-8.0-gd.lib

vtkCommonMath-8.0-gd.lib

vtkFiltersSelection-8.0-gd.lib

vtkImagingFourier-8.0-gd.lib

vtkIOXMLParser-8.0-gd.lib

vtkproj4-8.0-gd.lib

vtkalglib-8.0-gd.lib

vtktiff-8.0-gd.lib

vtksqlite-8.0-gd.lib

vtkImagingSources-8.0-gd.lib

vtkCommonTransforms-8.0-gd.lib

vtkImagingMath-8.0-gd.lib

vtkFiltersGeneric-8.0-gd.lib

vtkexoIIc-8.0-gd.lib

vtkfreetype-8.0-gd.lib

vtkImagingColor-8.0-gd.lib

vtknetcdf_c+±gd.lib

vtkNetCDF-8.0-gd.lib

vtkFiltersImaging-8.0-gd.lib

vtkFiltersHyperTree-8.0-gd.lib

vtkImagingMorphological-8.0-gd.lib

vtkImagingStencil-8.0-gd.lib

vtkRenderingFreeType-8.0-gd.lib

vtkCommonColor-8.0-gd.lib

vtkjsoncpp-8.0-gd.lib

vtkRenderingContext2D-8.0-gd.lib

vtkFiltersAMR-8.0-gd.lib

vtkRenderingContextOpenGL-8.0-gd.lib

vtkIOParallelXML-8.0-gd.lib

vtkViewsCore-8.0-gd.lib

vtkImagingHybrid-8.0-gd.lib

vtkIOExport-8.0-gd.lib

vtkRenderingVolumeOpenGL-8.0-gd.lib

vtkIOImport-8.0-gd.lib

vtkDomainsChemistry-8.0-gd.lib

vtkInteractionStyle-8.0-gd.lib

vtkCommonComputationalGeometry-8.0-gd.lib

vtkDICOMParser-8.0-gd.lib

vtklibxml2-8.0-gd.lib

vtkIOMINC-8.0-gd.lib

vtkIOSQL-8.0-gd.lib

vtkFiltersModeling-8.0-gd.lib

vtkParallelCore-8.0-gd.lib

vtkIOAMR-8.0-gd.lib

vtkGeovisCore-8.0-gd.lib

vtksys-8.0-gd.lib

vtkIOEnSight-8.0-gd.lib

vtkImagingGeneral-8.0-gd.lib

vtkFiltersFlowPaths-8.0-gd.lib

vtkIOLSDyna-8.0-gd.lib

vtkFiltersSMP-8.0-gd.lib

vtkIOParallel-8.0-gd.lib

vtkFiltersGeometry-8.0-gd.lib

vtkInfovisLayout-8.0-gd.lib

vtkIOCore-8.0-gd.lib

vtkFiltersSources-8.0-gd.lib

vtkIOLegacy-8.0-gd.lib

vtkFiltersHybrid-8.0-gd.lib

vtkIONetCDF-8.0-gd.lib

vtkFiltersExtraction-8.0-gd.lib

vtkFiltersParallel-8.0-gd.lib

vtkRenderingLabel-8.0-gd.lib

vtkIOInfovis-8.0-gd.lib

vtkRenderingAnnotation-8.0-gd.lib

vtkImagingCore-8.0-gd.lib

vtkCommonExecutionModel-8.0-gd.lib

vtkhdf5-8.0-gd.lib

vtkViewsInfovis-8.0-gd.lib

vtkIOGeometry-8.0-gd.lib

vtkmetaio-8.0-gd.lib

vtkIOImage-8.0-gd.lib

vtkIOXML-8.0-gd.lib

vtkIOExodus-8.0-gd.lib

vtkRenderingVolume-8.0-gd.lib

vtkChartsCore-8.0-gd.lib

vtkFiltersStatistics-8.0-gd.lib

vtkInfovisCore-8.0-gd.lib

vtkRenderingCore-8.0-gd.lib

vtkInteractionWidgets-8.0-gd.lib

vtkRenderingOpenGL-8.0-gd.lib

vtkFiltersGeneral-8.0-gd.lib

vtkFiltersCore-8.0-gd.lib

vtkCommonDataModel-8.0-gd.lib

vtkCommonCore-8.0-gd.lib

flann_cpp_s-gd.lib

qhullstatic_d.lib

OpenNI2.lib

release：

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_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_surface_release.lib

pcl_tracking_release.lib

pcl_visualization_release.lib

libboost_atomic-vc120-mt-1_61.lib

libboost_chrono-vc120-mt-1_61.lib

libboost_container-vc120-mt-1_61.lib

libboost_context-vc120-mt-1_61.lib

libboost_coroutine-vc120-mt-1_61.lib

libboost_date_time-vc120-mt-1_61.lib

libboost_exception-vc120-mt-1_61.lib

libboost_filesystem-vc120-mt-1_61.lib

libboost_graph-vc120-mt-1_61.lib

libboost_iostreams-vc120-mt-1_61.lib

libboost_locale-vc120-mt-1_61.lib

libboost_log-vc120-mt-1_61.lib

libboost_log_setup-vc120-mt-1_61.lib

libboost_math_c99-vc120-mt-1_61.lib

libboost_math_c99f-vc120-mt-1_61.lib

libboost_math_c99l-vc120-mt-1_61.lib

libboost_math_tr1-vc120-mt-1_61.lib

libboost_math_tr1f-vc120-mt-1_61.lib

libboost_math_tr1l-vc120-mt-1_61.lib

libboost_mpi-vc120-mt-1_61.lib

libboost_prg_exec_monitor-vc120-mt-1_61.lib

libboost_program_options-vc120-mt-1_61.lib

libboost_random-vc120-mt-1_61.lib

libboost_regex-vc120-mt-1_61.lib

libboost_serialization-vc120-mt-1_61.lib

libboost_signals-vc120-mt-1_61.lib

libboost_system-vc120-mt-1_61.lib

libboost_test_exec_monitor-vc120-mt-1_61.lib

libboost_thread-vc120-mt-1_61.lib

libboost_timer-vc120-mt-1_61.lib

libboost_type_erasure-vc120-mt-1_61.lib

libboost_unit_test_framework-vc120-mt-1_61.lib

libboost_wave-vc120-mt-1_61.lib

libboost_wserialization-vc120-mt-1_61.lib

flann_cpp_s.lib

flann_s.lib

flann.lib

qhull.lib

qhull_p.lib

qhull_r.lib

qhullcpp.lib

qhullstatic.lib

qhullstatic_r.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

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

vtkFiltersSMP-7.0.lib

vtkFiltersSelection-7.0.lib

vtkFiltersSources-7.0.lib

vtkFiltersStatistics-7.0.lib

vtkFiltersTexture-7.0.lib

vtkFiltersVerdict-7.0.lib

vtkGeovisCore-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

vtkIOLSDyna-7.0.lib

vtkIOLegacy-7.0.lib

vtkIOMINC-7.0.lib

vtkIOMovie-7.0.lib

vtkIONetCDF-7.0.lib

vtkIOPLY-7.0.lib

vtkIOParallel-7.0.lib

vtkIOParallelXML-7.0.lib

vtkIOSQL-7.0.lib

vtkIOVideo-7.0.lib

vtkIOXML-7.0.lib

vtkIOXMLParser-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

vtkNetCDF-7.0.lib

vtkNetCDF_cxx-7.0.lib

vtkParallelCore-7.0.lib

vtkRenderingAnnotation-7.0.lib

vtkRenderingContext2D-7.0.lib

vtkRenderingContextOpenGL-7.0.lib

vtkRenderingCore-7.0.lib

vtkRenderingFreeType-7.0.lib

vtkRenderingGL2PS-7.0.lib

vtkRenderingImage-7.0.lib

vtkRenderingLIC-7.0.lib

vtkRenderingLOD-7.0.lib

vtkRenderingLabel-7.0.lib

vtkRenderingOpenGL-7.0.lib

vtkRenderingVolume-7.0.lib

vtkRenderingVolumeOpenGL-7.0.lib

vtkViewsContext2D-7.0.lib

vtkViewsCore-7.0.lib

vtkViewsInfovis-7.0.lib

vtkalglib-7.0.lib

vtkexoIIc-7.0.lib

vtkexpat-7.0.lib

vtkfreetype-7.0.lib

vtkgl2ps-7.0.lib

vtkhdf5-7.0.lib

vtkhdf5_hl-7.0.lib

vtkjpeg-7.0.lib

vtkjsoncpp-7.0.lib

vtklibxml2-7.0.lib

vtkmetaio-7.0.lib

vtkoggtheora-7.0.lib

vtkpng-7.0.lib

vtkproj4-7.0.lib

vtksqlite-7.0.lib

vtksys-7.0.lib

vtktiff-7.0.lib

vtkverdict-7.0.lib

vtkzlib-7.0.lib

注：若附加依赖项添加不正确，在运行程序时会报以下错误

错误 LNK1104 无法打开文件“libboost_atomic-vc120-mt-gd-1_61.lib” project_PCL

6. 其他设置

①编译的时候记得将编译器变为x64的环境下运行，然后估计会报这样的错误： error C4996: ‘pcl::SAC_SAMPLE_SIZE’: This map is deprecated and is kept only to prevent breaking existing user… 解决方式：属性"->“C/C++”->“SDL检查”：改为否(/sdl) ②为了防止弹出很多的warning，加入预处理器 在属性目录"C/C++ “– >“预处理器”–>“预处理器定义” 加入： _SCL_SECURE_NO_WARNINGS _CRT_SECURE_NO_WARNINGS PCL_NO_PRECOMPILE ③在Debug下编译会出现大量的如下warning（Release下没有）： warning LNK4099: 未找到 PDB“.pdb”正在链接对象,如同没有调试信息一样 解决方法：“视图”->“解决方案资源管理器”->“属性”->“链接器”->“调试”，在右侧的“生成 调试信息”改为“否”，确定即可。 ④LNK1104 无法打开文件“vtknetcdf_c+±gd.lib” 解决方法：在D:\PCL 1.8.1\3rdParty\VTK\lib中找到这个文件，在下图中找到对应的文件名，修改附加依赖项中为相同的名字；

参考博客：

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