PCL在vs上的环境配置：pcl1.8+vs2013+win64

       已经接触pcl有半年多时间了，从一开始的小白，到现在可以独立解决调试问题，中间可谓冷暖自知。碰了很多次壁，出现各种各样的错误，前前后后在三个不同型号的电脑上配环境也运行过代码。这次把自己在配置环境中遇到的问题和方法总结一下，先贴两个一直以来参考的教程：

https://www.cnblogs.com/li-yao7758258/p/8066352.html

https://blog.youkuaiyun.com/qq_42570058/article/details/80891372

       里面还是比较详细的记录了配置的每个环节需要注意的问题，以下是我总结的内容：首先，要了解自己所要配置的环境是多少位的，这个很重要，从开始配置到结束都要保持一致，这里以pcl1.8+vs2013+win64为例；

PCL的库可以在官方网站上下载，也可参考下载地址链接：https://pan.baidu.com/s/1MXGJFYQ_FIMAAP5ybXBc2A 密码：krj5

vs2013的下载安装就不做赘述，网上百度就可以了。pcl1.8的版本我使用了：PCL-1.8.0-AllInOne-msvc2013-win64，PCL-1.8.0-AllInOne还是很好用的，第三方库很完整，不需要单独在下载很方便，这里注意pcl一定要选择和vs相匹配的版本，不然可能会很麻烦。

安装步骤

        PCL整个安装过程需要注意，我是安装在c盘，建议勾选上“Add PCL to the system PATH for all users”；安装时，会提示pcl的安装路径，选择非中文的路径即可；OpenNI的安装路径选择PCL安装路径的3rdParty下的OpenNI2文件夹中。

安装完成之后将下载好的PCL-1.8.0-AllInOne-msvc2013-win64-pdb，pdb文件拷贝到PCL ROOT下的bin文件夹中；

配置步骤

        打开vs2013新建一个c++控制台程序，选择空项目，去掉“预编译头（P）”前的勾，去掉“安全开发生命周期（SDL）检查(C)”前的勾，其它默认即可。

       确定之后系统默认调试器为Debug -Win32，vs的编译器是分为32位和64位的，这里跟计算机操作系统的位数并没有关系，不同的位数需要不同的lib和dll才能编译出来，也就是一直强调的pcl版本选择问题。

如上图，在视图中选择属性管理器；

我们需要生成64位的程序，要将默认的win32改为x64，点击下拉框的配置管理器，新建或编辑新的解决方案平台；

设置完成后属性管理器回变为debug和release两种；

这时就开始【配置属性表】，这里要注意是debugx64的属性，在这里我们需要配置附加包含目录，附加库目录，附加依赖项等；

1.右击项目属性，设置C/C++常规中的附加包含目录：

点击下拉框中的编辑输入以下内容：

C:\Program Files\PCL 1.8.0\include\pcl-1.8
C:\Program Files\PCL 1.8.0\3rdParty\Boost\include\boost-1_59
C:\Program Files\PCL 1.8.0\3rdParty\Eigen\eigen3
C:\Program Files\PCL 1.8.0\3rdParty\FLANN\include
C:\Program Files\PCL 1.8.0\3rdParty\OpenNI2\Include
C:\Program Files\PCL 1.8.0\3rdParty\Qhull\include

C:\Program Files\PCL 1.8.0\3rdParty\VTK\include\vtk-7.0

目录路径要根据自己的pcl安装路径做改变，这里是我自己的安装路径。

2.设置vc++目录中的包含目录和库目录：

包含目录：点击下拉框中的编辑输入以下内容：

C:\Program Files\PCL 1.8.0\include\pcl-1.8
C:\Program Files\PCL 1.8.0\3rdParty\Boost\include\boost-1_59
C:\Program Files\PCL 1.8.0\3rdParty\Eigen\eigen3
C:\Program Files\PCL 1.8.0\3rdParty\FLANN\include
C:\Program Files\PCL 1.8.0\3rdParty\OpenNI2\Include
C:\Program Files\PCL 1.8.0\3rdParty\Qhull\include

C:\Program Files\PCL 1.8.0\3rdParty\VTK

库目录：点击下拉框中的编辑输入以下内容：

C:\Program Files\PCL 1.8.0\lib

C:\Program Files\PCL 1.8.0\3rdParty\Boost\lib

C:\Program Files\PCL 1.8.0\3rdParty\FLANN\lib

C:\Program Files\PCL 1.8.0\3rdParty\OpenNI2\lib

C:\Program Files\PCL 1.8.0\3rdParty\Qhull\lib

C:\Program Files\PCL 1.8.0\3rdParty\VTK\lib

3.在链接器的常规中设置附加库目录，包含pcl和第三方库的lib文件路径。

点击下拉框中的编辑输入以下内容：

C:\Program Files\PCL 1.8.0\lib

C:\Program Files\PCL 1.8.0\3rdParty\Boost\lib

C:\Program Files\PCL 1.8.0\3rdParty\FLANN\lib

C:\Program Files\PCL 1.8.0\3rdParty\OpenNI2\lib

C:\Program Files\PCL 1.8.0\3rdParty\Qhull\lib

C:\Program Files\PCL 1.8.0\3rdParty\VTK\lib

4.在链接器的输入中设置附加依赖项：

输入以下内容，以下库文件为debug64位的附加依赖项：

pcl_apps_debug.lib
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_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_cpp_s-gd.lib
flann_s-gd.lib
flann-gd.lib
OpenNI2.lib
qhullstatic_r-gd.lib
qhull_p-gd.lib
qhull_r-gd.lib
qhullcpp-gd.lib
qhull-gd.lib
qhullstatic-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
以下库文件为release64位的附加依赖项：

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-vc120-mt-1_59.lib
libboost_chrono-vc120-mt-1_59.lib
libboost_container-vc120-mt-1_59.lib
libboost_context-vc120-mt-1_59.lib
libboost_coroutine-vc120-mt-1_59.lib
libboost_date_time-vc120-mt-1_59.lib
libboost_exception-vc120-mt-1_59.lib
libboost_filesystem-vc120-mt-1_59.lib
libboost_graph-vc120-mt-1_59.lib
libboost_iostreams-vc120-mt-1_59.lib
libboost_locale-vc120-mt-1_59.lib
libboost_log-vc120-mt-1_59.lib
libboost_log_setup-vc120-mt-1_59.lib
libboost_math_c99-vc120-mt-1_59.lib
libboost_math_c99f-vc120-mt-1_59.lib
libboost_math_c99l-vc120-mt-1_59.lib
libboost_math_tr1-vc120-mt-1_59.lib
libboost_math_tr1f-vc120-mt-1_59.lib
libboost_math_tr1l-vc120-mt-1_59.lib
libboost_mpi-vc120-mt-1_59.lib
libboost_prg_exec_monitor-vc120-mt-1_59.lib
libboost_program_options-vc120-mt-1_59.lib
libboost_random-vc120-mt-1_59.lib
libboost_regex-vc120-mt-1_59.lib
libboost_serialization-vc120-mt-1_59.lib
libboost_signals-vc120-mt-1_59.lib
libboost_system-vc120-mt-1_59.lib
libboost_test_exec_monitor-vc120-mt-1_59.lib
libboost_thread-vc120-mt-1_59.lib
libboost_timer-vc120-mt-1_59.lib
libboost_unit_test_framework-vc120-mt-1_59.lib
libboost_wave-vc120-mt-1_59.lib
libboost_wserialization-vc120-mt-1_59.lib
flann_cpp_s.lib
flann_s.lib
qhull.lib
qhullcpp.lib
qhullstatic.lib
qhullstatic_r.lib
qhull_p.lib
qhull_r.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
vtkDomainsChemistryOpenGL2-7.0.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
vtkglew-7.0.lib
vtkGUISupportQt-7.0.lib
vtkGUISupportQtSQL-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
vtkRenderingContextOpenGL2-7.0.lib
vtkRenderingCore-7.0.lib
vtkRenderingFreeType-7.0.lib
vtkRenderingImage-7.0.lib
vtkRenderingLabel-7.0.lib
vtkRenderingLOD-7.0.lib
vtkRenderingOpenGL2-7.0.lib
vtkRenderingQt-7.0.lib
vtkRenderingVolume-7.0.lib
vtkRenderingVolumeOpenGL2-7.0.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
vtkViewsQt-7.0.lib
vtkzlib-7.0.lib

注意：以上的配置操作最后都要点击对话框右下角的应用按钮，否则不生效。

5.动态链接库的配置有很多种：把dll拷贝到system32里去；把dll拷贝到编译出来的程序的文件中；直接配置到项目中；在系统的path中添加dll的路径，四种任选其一。这里示范配置系统环境变量，打开控制面板\系统和安全\系统->高级系统设置->环境变量；

修改path路径在后面添加下面的文字：

;%PCL_ROOT%\bin
;%PCL_ROOT%\3rdParty\Qhull\bin
;%PCL_ROOT%\3rdParty\FLANN\bin
;%PCL_ROOT%\3rdParty\VTK\bin
;%PCL_ROOT%\3rdParty\OpenNI2\Tools

注意：配置完系统变量需重启计算机才能生效。

以上，所有的配置已经完成了，给项目中添加新的程序就可以编译运行了。