PCL-1.7.2-AllInOne-msvc2013-win64+VS2013安装

什么是PCL

PCL（Point Cloud Library）是在吸收了前人点云相关研究基础上建立起来的大型跨平台开源C++编程库，它实现了大量点云相关的通用算法和高效数据结构，涉及到点云获取、滤波、分割、配准、检索、特征提取、识别、追踪、曲面重建、可视化等。支持多种操作系统平台，可在Windows、Linux、Android、Mac OS X、部分嵌入式实时系统上运行。如果说OpenCV是2D信息获取与处理的结晶，那么PCL就在3D信息获取与处理上具有同等地位，PCL是BSD授权方式，可以免费进行商业和学术应用。

下载地址

官网：http://pointclouds.org/downloads/windows.html

百度云：http://pan.baidu.com/s/1pLKk1ez

安装步骤

双击下载好的PCL-1.7.2-AllInOne-msvc2013-win64.exe

点击”下一步“->“我接受”->是否将目录加入环境变量->选择目标文件夹->选择安装组件->安装

配置环境变量

在path中加入以下内容：

D:\jiao\applications\PCL 1.7.2\bin

D:\jiao\applications\PCL 1.7.2\3rdParty\FLANN\bin

D:\jiao\applications\PCL 1.7.2\3rdParty\Qhull\bin

D:\jiao\applications\PCL 1.7.2\3rdParty\VTK\bin

（pcl的安装目录，这里我是“D:\jiao\applications“）

配置vs2013

工程配置包含目录

D:\jiao\applications\PCL 1.7.2\include\pcl-1.7

D:\jiao\applications\PCL 1.7.2\3rdParty\VTK\include\vtk-6.2

D:\jiao\applications\PCL 1.7.2\3rdParty\Qhull\include;

D:\jiao\applications\PCL 1.7.2\3rdParty\FLANN\include;

D:\jiao\applications\PCL 1.7.2\3rdParty\Boost\include\boost-1_57;

D:\jiao\applications\PCL 1.7.2\3rdParty\Eigen\eigen3;

工程配置库目录

D:\jiao\applications\PCL 1.7.2\lib

D:\jiao\applications\PCL 1.7.2\3rdParty\VTK\lib

D:\jiao\applications\PCL 1.7.2\3rdParty\Qhull\lib

D:\jiao\applications\PCL 1.7.2\3rdParty\FLANN\lib

D:\jiao\applications\PCL 1.7.2\3rdParty\Boost\lib

工程配置链接输入的附加依赖项

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_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_surface_debug.lib

pcl_tracking_debug.lib

pcl_visualization_debug.lib

libboost_atomic-vc120-mt-gd-1_57.lib

libboost_chrono-vc120-mt-gd-1_57.lib

libboost_container-vc120-mt-gd-1_57.lib

libboost_context-vc120-mt-gd-1_57.lib

libboost_coroutine-vc120-mt-gd-1_57.lib

libboost_date_time-vc120-mt-gd-1_57.lib

libboost_exception-vc120-mt-gd-1_57.lib

libboost_filesystem-vc120-mt-gd-1_57.lib

libboost_graph-vc120-mt-gd-1_57.lib

libboost_iostreams-vc120-mt-gd-1_57.lib

libboost_locale-vc120-mt-gd-1_57.lib

libboost_log-vc120-mt-gd-1_57.lib

libboost_log_setup-vc120-mt-gd-1_57.lib

libboost_math_c99-vc120-mt-gd-1_57.lib

libboost_math_c99f-vc120-mt-gd-1_57.lib

libboost_math_c99l-vc120-mt-gd-1_57.lib

libboost_math_tr1-vc120-mt-gd-1_57.lib

libboost_math_tr1f-vc120-mt-gd-1_57.lib

libboost_math_tr1l-vc120-mt-gd-1_57.lib

libboost_mpi-vc120-mt-gd-1_57.lib

libboost_prg_exec_monitor-vc120-mt-gd-1_57.lib

libboost_program_options-vc120-mt-gd-1_57.lib

libboost_random-vc120-mt-gd-1_57.lib

libboost_regex-vc120-mt-gd-1_57.lib

libboost_serialization-vc120-mt-gd-1_57.lib

libboost_signals-vc120-mt-gd-1_57.lib

libboost_system-vc120-mt-gd-1_57.lib

libboost_test_exec_monitor-vc120-mt-gd-1_57.lib

libboost_thread-vc120-mt-gd-1_57.lib

libboost_timer-vc120-mt-gd-1_57.lib

libboost_unit_test_framework-vc120-mt-gd-1_57.lib

libboost_wave-vc120-mt-gd-1_57.lib

libboost_wserialization-vc120-mt-gd-1_57.lib

flann_cpp_s-gd.lib

qhullstatic_d.lib

vtkalglib-6.2-gd.lib

vtkChartsCore-6.2-gd.lib

vtkCommonColor-6.2-gd.lib

vtkCommonComputationalGeometry-6.2-gd.lib

vtkCommonCore-6.2-gd.lib

vtkCommonDataModel-6.2-gd.lib

vtkCommonExecutionModel-6.2-gd.lib

vtkCommonMath-6.2-gd.lib

vtkCommonMisc-6.2-gd.lib

vtkCommonSystem-6.2-gd.lib

vtkCommonTransforms-6.2-gd.lib

vtkDICOMParser-6.2-gd.lib

vtkDomainsChemistry-6.2-gd.lib

vtkexoIIc-6.2-gd.lib

vtkexpat-6.2-gd.lib

vtkFiltersAMR-6.2-gd.lib

vtkFiltersCore-6.2-gd.lib

vtkFiltersExtraction-6.2-gd.lib

vtkFiltersFlowPaths-6.2-gd.lib

vtkFiltersGeneral-6.2-gd.lib

vtkFiltersGeneric-6.2-gd.lib

vtkFiltersGeometry-6.2-gd.lib

vtkFiltersHybrid-6.2-gd.lib

vtkFiltersHyperTree-6.2-gd.lib

vtkFiltersImaging-6.2-gd.lib

vtkFiltersModeling-6.2-gd.lib

vtkFiltersParallel-6.2-gd.lib

vtkFiltersParallelImaging-6.2-gd.lib

vtkFiltersProgrammable-6.2-gd.lib

vtkFiltersSelection-6.2-gd.lib

vtkFiltersSMP-6.2-gd.lib

vtkFiltersSources-6.2-gd.lib

vtkFiltersStatistics-6.2-gd.lib

vtkFiltersTexture-6.2-gd.lib

vtkFiltersVerdict-6.2-gd.lib

vtkfreetype-6.2-gd.lib

vtkftgl-6.2-gd.lib

vtkGeovisCore-6.2-gd.lib

vtkgl2ps-6.2-gd.lib

vtkhdf5-6.2-gd.lib

vtkhdf5_hl-6.2-gd.lib

vtkImagingColor-6.2-gd.lib

vtkImagingCore-6.2-gd.lib

vtkImagingFourier-6.2-gd.lib

vtkImagingGeneral-6.2-gd.lib

vtkImagingHybrid-6.2-gd.lib

vtkImagingMath-6.2-gd.lib

vtkImagingMorphological-6.2-gd.lib

vtkImagingSources-6.2-gd.lib

vtkImagingStatistics-6.2-gd.lib

vtkImagingStencil-6.2-gd.lib

vtkInfovisCore-6.2-gd.lib

vtkInfovisLayout-6.2-gd.lib

vtkInteractionImage-6.2-gd.lib

vtkInteractionStyle-6.2-gd.lib

vtkInteractionWidgets-6.2-gd.lib

vtkIOAMR-6.2-gd.lib

vtkIOCore-6.2-gd.lib

vtkIOEnSight-6.2-gd.lib

vtkIOExodus-6.2-gd.lib

vtkIOExport-6.2-gd.lib

vtkIOGeometry-6.2-gd.lib

vtkIOImage-6.2-gd.lib

vtkIOImport-6.2-gd.lib

vtkIOInfovis-6.2-gd.lib

vtkIOLegacy-6.2-gd.lib

vtkIOLSDyna-6.2-gd.lib

vtkIOMINC-6.2-gd.lib

vtkIOMovie-6.2-gd.lib

vtkIONetCDF-6.2-gd.lib

vtkIOParallel-6.2-gd.lib

vtkIOPLY-6.2-gd.lib

vtkIOSQL-6.2-gd.lib

vtkIOVideo-6.2-gd.lib

vtkIOXML-6.2-gd.lib

vtkIOXMLParser-6.2-gd.lib

vtkjpeg-6.2-gd.lib

vtkjsoncpp-6.2-gd.lib

vtklibxml2-6.2-gd.lib

vtkmetaio-6.2-gd.lib

vtkNetCDF-6.2-gd.lib

vtkNetCDF_cxx-6.2-gd.lib

vtkoggtheora-6.2-gd.lib

vtkParallelCore-6.2-gd.lib

vtkpng-6.2-gd.lib

vtkproj4-6.2-gd.lib

vtkRenderingAnnotation-6.2-gd.lib

vtkRenderingContext2D-6.2-gd.lib

vtkRenderingCore-6.2-gd.lib

vtkRenderingFreeType-6.2-gd.lib

vtkRenderingFreeTypeOpenGL-6.2-gd.lib

vtkRenderingGL2PS-6.2-gd.lib

vtkRenderingImage-6.2-gd.lib

vtkRenderingLabel-6.2-gd.lib

vtkRenderingLIC-6.2-gd.lib

vtkRenderingLOD-6.2-gd.lib

vtkRenderingOpenGL-6.2-gd.lib

vtkRenderingVolume-6.2-gd.lib

vtkRenderingVolumeOpenGL-6.2-gd.lib

vtksqlite-6.2-gd.lib

vtksys-6.2-gd.lib

vtktiff-6.2-gd.lib

vtkverdict-6.2-gd.lib

vtkViewsContext2D-6.2-gd.lib

vtkViewsCore-6.2-gd.lib

vtkViewsInfovis-6.2-gd.lib

vtkzlib-6.2-gd.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_57.lib

libboost_chrono-vc120-mt-1_57.lib

libboost_container-vc120-mt-1_57.lib

libboost_context-vc120-mt-1_57.lib

libboost_coroutine-vc120-mt-1_57.lib

libboost_date_time-vc120-mt-1_57.lib

libboost_exception-vc120-mt-1_57.lib

libboost_filesystem-vc120-mt-1_57.lib

libboost_graph-vc120-mt-1_57.lib

libboost_iostreams-vc120-mt-1_57.lib

libboost_locale-vc120-mt-1_57.lib

libboost_log-vc120-mt-1_57.lib

libboost_log_setup-vc120-mt-1_57.lib

libboost_math_c99-vc120-mt-1_57.lib

libboost_math_c99f-vc120-mt-1_57.lib

libboost_math_c99l-vc120-mt-1_57.lib

libboost_math_tr1-vc120-mt-1_57.lib

libboost_math_tr1f-vc120-mt-1_57.lib

libboost_math_tr1l-vc120-mt-1_57.lib

libboost_mpi-vc120-mt-1_57.lib

libboost_prg_exec_monitor-vc120-mt-1_57.lib

libboost_program_options-vc120-mt-1_57.lib

libboost_random-vc120-mt-1_57.lib

libboost_regex-vc120-mt-1_57.lib

libboost_serialization-vc120-mt-1_57.lib

libboost_signals-vc120-mt-1_57.lib

libboost_system-vc120-mt-1_57.lib

libboost_test_exec_monitor-vc120-mt-1_57.lib

libboost_thread-vc120-mt-1_57.lib

libboost_timer-vc120-mt-1_57.lib

libboost_unit_test_framework-vc120-mt-1_57.lib

libboost_wave-vc120-mt-1_57.lib

libboost_wserialization-vc120-mt-1_57.lib

flann_cpp_s.lib

qhullstatic.lib

vtkalglib-6.2.lib

vtkChartsCore-6.2.lib

vtkCommonColor-6.2.lib

vtkCommonComputationalGeometry-6.2.lib

vtkCommonCore-6.2.lib

vtkCommonDataModel-6.2.lib

vtkCommonExecutionModel-6.2.lib

vtkCommonMath-6.2.lib

vtkCommonMisc-6.2.lib

vtkCommonSystem-6.2.lib

vtkCommonTransforms-6.2.lib

vtkDICOMParser-6.2.lib

vtkDomainsChemistry-6.2.lib

vtkexoIIc-6.2.lib

vtkexpat-6.2.lib

vtkFiltersAMR-6.2.lib

vtkFiltersCore-6.2.lib

vtkFiltersExtraction-6.2.lib

vtkFiltersFlowPaths-6.2.lib

vtkFiltersGeneral-6.2.lib

vtkFiltersGeneric-6.2.lib

vtkFiltersGeometry-6.2.lib

vtkFiltersHybrid-6.2.lib

vtkFiltersHyperTree-6.2.lib

vtkFiltersImaging-6.2.lib

vtkFiltersModeling-6.2.lib

vtkFiltersParallel-6.2.lib

vtkFiltersParallelImaging-6.2.lib

vtkFiltersProgrammable-6.2.lib

vtkFiltersSelection-6.2.lib

vtkFiltersSMP-6.2.lib

vtkFiltersSources-6.2.lib

vtkFiltersStatistics-6.2.lib

vtkFiltersTexture-6.2.lib

vtkFiltersVerdict-6.2.lib

vtkfreetype-6.2.lib

vtkftgl-6.2.lib

vtkGeovisCore-6.2.lib

vtkgl2ps-6.2.lib

vtkhdf5-6.2.lib

vtkhdf5_hl-6.2.lib

vtkImagingColor-6.2.lib

vtkImagingCore-6.2.lib

vtkImagingFourier-6.2.lib

vtkImagingGeneral-6.2.lib

vtkImagingHybrid-6.2.lib

vtkImagingMath-6.2.lib

vtkImagingMorphological-6.2.lib

vtkImagingSources-6.2.lib

vtkImagingStatistics-6.2.lib

vtkImagingStencil-6.2.lib

vtkInfovisCore-6.2.lib

vtkInfovisLayout-6.2.lib

vtkInteractionImage-6.2.lib

vtkInteractionStyle-6.2.lib

vtkInteractionWidgets-6.2.lib

vtkIOAMR-6.2.lib

vtkIOCore-6.2.lib

vtkIOEnSight-6.2.lib

vtkIOExodus-6.2.lib

vtkIOExport-6.2.lib

vtkIOGeometry-6.2.lib

vtkIOImage-6.2.lib

vtkIOImport-6.2.lib

vtkIOInfovis-6.2.lib

vtkIOLegacy-6.2.lib

vtkIOLSDyna-6.2.lib

vtkIOMINC-6.2.lib

vtkIOMovie-6.2.lib

vtkIONetCDF-6.2.lib

vtkIOParallel-6.2.lib

vtkIOPLY-6.2.lib

vtkIOSQL-6.2.lib

vtkIOVideo-6.2.lib

vtkIOXML-6.2.lib

vtkIOXMLParser-6.2.lib

vtkjpeg-6.2.lib

vtkjsoncpp-6.2.lib

vtklibxml2-6.2.lib

vtkmetaio-6.2.lib

vtkNetCDF-6.2.lib

vtkNetCDF_cxx-6.2.lib

vtkoggtheora-6.2.lib

vtkParallelCore-6.2.lib

vtkpng-6.2.lib

vtkproj4-6.2.lib

vtkRenderingAnnotation-6.2.lib

vtkRenderingContext2D-6.2.lib

vtkRenderingCore-6.2.lib

vtkRenderingFreeType-6.2.lib

vtkRenderingFreeTypeOpenGL-6.2.lib

vtkRenderingGL2PS-6.2.lib

vtkRenderingImage-6.2.lib

vtkRenderingLabel-6.2.lib

vtkRenderingLIC-6.2.lib

vtkRenderingLOD-6.2.lib

vtkRenderingOpenGL-6.2.lib

vtkRenderingVolume-6.2.lib

vtkRenderingVolumeOpenGL-6.2.lib

vtksqlite-6.2.lib

vtksys-6.2.lib

vtktiff-6.2.lib

vtkverdict-6.2.lib

vtkViewsContext2D-6.2.lib

vtkViewsCore-6.2.lib

vtkViewsInfovis-6.2.lib

vtkzlib-6.2.lib

验证是否安装成功

#include<pcl/visualization/cloud_viewer.h>
#include<iostream>
#include<pcl/io/io.h>
#include<pcl/io/pcd_io.h>
int main()
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudA(new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloudB(new pcl::PointCloud<pcl::PointXYZRGB>);

pcl::io::loadPCDFile("cloudA.pcd", *cloudA);
pcl::io::loadPCDFile("cloudB.pcd", *cloudB);

pcl::visualization::PCLVisualizer viewer_pcl;
viewer_pcl.setCameraFieldOfView(0.785398); // approximately 45 degrees
viewer_pcl.setCameraPosition(0, 0, 0, 0, 0, 1, 0, -1, 0);

cloudA->operator+=(*cloudB);
viewer_pcl.addPointCloud(cloudA, "jiao");
viewer_pcl.spin();

return 0;
}

此程序功能为显示点云，工程文件夹下要放置两个点云文件cloudA.pcd,cloudB.pcd。注意编译平台要选择x64。