pcl+vs2012+win7(32位)配置環境

      PCL+ VS2012 + WIN7（32位）環境配置，大部分C++庫配置都可作爲參考，總體思路相同。

      由於實驗項目在三維建模遇到困難，自己寫的三維曲面重建效果不佳，又苦於圖像濾波處理方法的參考方法較少，需要藉助PCL豐富的第三方庫，實現三維數據的處理與展示。因此着手準備安裝PCL，中間經歷多次重裝，特記下此經歷：

一則 方便日後再次PCL時查找相關資料的繁瑣，能夠快速完成PCL庫的安裝，省去不必要的麻煩。

二則 爲日後安裝其他C++相關庫積累些經驗，提高庫安裝的速度。

一：配置文件準備

特別注意：（1）需要下載自己電腦位數和VS對應的版本

                  （2）下載後安裝路徑需記住，最好安裝在一個目錄中

1：首先下載PCL-1.7.2-AllInOne-msvc2012-win32，鏈接：http://pan.baidu.com/s/1bnB4I79

安裝完成後右鍵點擊 運行，見下圖，點擊下一步，自己選擇安裝路徑。本人安裝在  D:\PCL1.72

安裝完成後見下圖，3rdParty包含其他需要的文件。

2：下載OpenNI1.5.4，下載地址https://sourceforge.net/projects/pointclouds/files/dependencies/OpenNI-Win32-1.5.4-Dev.msi/download

下載完成後見下圖，直接點擊運行安裝，安裝路徑自己設置。本人安裝在  D:\PCL1.72\OpenNI1.5.4

二：系統環境設置

1：右擊計算機 >>>屬性>>>高級系統設置>>>環境變量，在用戶變量下新建PCL,值爲安裝目錄。

2：在用戶變量的PATH下添加路徑： 

注意：（1）添加變量路徑要用英文符號分隔開

           （2）檢測路徑設置是否正確，根據自己的安裝路徑設置，並重啓電腦

D:\PCL1.72\bin;

D:\PCL1.72\3rdParty\OpenNI\Bin;

D:\PCL1.72\3rdParty\FLANN\bin;

D:\PCL1.72\3rdParty\QHull\bin;

D:\PCL1.72\3rdParty\VTK\bin;

三：工程項目配置

1：創建C++空項目，在屬性管理器中新建項目屬性表。見下圖

2：打開新建屬性表，點擊VC++目錄>>>包含庫目錄>>>編輯，見下圖

在包含目錄中添加安裝完成的所有include文件夾，外加一個3rdParty中的Eigen文件夾。注意（倒二個文件夾是OpenNI的include，添加這個include的時候要找到自己文件對應的路徑）

同時，添加庫目錄的所有lib文件夾，和庫目錄一樣的方法，添加所有lib文件夾。注意（倒二個文件夾是OpenNI的Lib）

3：添加lib文件

打開連接器>>> 輸入>>>附加依賴項>>>編輯，輸入以下.lib文件

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-vc110-mt-1_55.lib
libboost_atomic-vc110-mt-gd-1_55.lib
libboost_chrono-vc110-mt-1_55.lib
libboost_chrono-vc110-mt-gd-1_55.lib
libboost_context-vc110-mt-1_55.lib
libboost_context-vc110-mt-gd-1_55.lib
libboost_coroutine-vc110-mt-1_55.lib
libboost_coroutine-vc110-mt-gd-1_55.lib
libboost_date_time-vc110-mt-1_55.lib
libboost_date_time-vc110-mt-gd-1_55.lib
libboost_exception-vc110-mt-1_55.lib
libboost_exception-vc110-mt-gd-1_55.lib
libboost_filesystem-vc110-mt-1_55.lib
libboost_filesystem-vc110-mt-gd-1_55.lib
libboost_graph_parallel-vc110-mt-1_55.lib
libboost_graph_parallel-vc110-mt-gd-1_55.lib
libboost_graph-vc110-mt-1_55.lib
libboost_graph-vc110-mt-gd-1_55.lib
libboost_iostreams-vc110-mt-1_55.lib
libboost_iostreams-vc110-mt-gd-1_55.lib
libboost_locale-vc110-mt-1_55.lib
libboost_locale-vc110-mt-gd-1_55.lib
libboost_log_setup-vc110-mt-1_55.lib
libboost_log_setup-vc110-mt-gd-1_55.lib
libboost_log-vc110-mt-1_55.lib
libboost_log-vc110-mt-gd-1_55.lib
libboost_math_c99-vc110-mt-1_55.lib
libboost_math_c99-vc110-mt-gd-1_55.lib
libboost_math_c99f-vc110-mt-1_55.lib
libboost_math_c99f-vc110-mt-gd-1_55.lib
libboost_math_c99l-vc110-mt-1_55.lib
libboost_math_c99l-vc110-mt-gd-1_55.lib
libboost_math_tr1-vc110-mt-1_55.lib
libboost_math_tr1-vc110-mt-gd-1_55.lib
libboost_math_tr1f-vc110-mt-1_55.lib
libboost_math_tr1f-vc110-mt-gd-1_55.lib
libboost_math_tr1l-vc110-mt-1_55.lib
libboost_math_tr1l-vc110-mt-gd-1_55.lib
libboost_mpi-vc110-mt-1_55.lib
libboost_mpi-vc110-mt-gd-1_55.lib
libboost_prg_exec_monitor-vc110-mt-1_55.lib
libboost_prg_exec_monitor-vc110-mt-gd-1_55.lib
libboost_program_options-vc110-mt-1_55.lib
libboost_program_options-vc110-mt-gd-1_55.lib
libboost_random-vc110-mt-1_55.lib
libboost_random-vc110-mt-gd-1_55.lib
libboost_regex-vc110-mt-1_55.lib
libboost_regex-vc110-mt-gd-1_55.lib
libboost_serialization-vc110-mt-1_55.lib
libboost_serialization-vc110-mt-gd-1_55.lib
libboost_signals-vc110-mt-1_55.lib
libboost_signals-vc110-mt-gd-1_55.lib
libboost_system-vc110-mt-gd-1_55.lib
libboost_test_exec_monitor-vc110-mt-1_55.lib
libboost_test_exec_monitor-vc110-mt-gd-1_55.lib
libboost_thread-vc110-mt-gd-1_55.lib
libboost_timer-vc110-mt-1_55.lib
libboost_timer-vc110-mt-gd-1_55.lib
libboost_unit_test_framework-vc110-mt-1_55.lib
libboost_unit_test_framework-vc110-mt-gd-1_55.lib
libboost_wave-vc110-mt-1_55.lib
libboost_wave-vc110-mt-gd-1_55.lib
libboost_wserialization-vc110-mt-1_55.lib
libboost_wserialization-vc110-mt-gd-1_55.lib
flann.lib
flann_cpp_s.lib
flann_cpp_s-gd.lib
flann_s.lib
flann_s-gd.lib
flann-gd.lib
qhull.lib
qhull_d.lib
qhull_p.lib
qhull_p_d.lib
qhullcpp.lib
qhullcpp_d.lib
qhullstatic.lib
qhullstatic_d.lib
qhullstatic_p.lib
qhullstatic_p_d.lib
vtkalglib.lib
vtkalglib-gd.lib
vtkCharts.lib
vtkCharts-gd.lib
vtkCommon.lib
vtkCommon-gd.lib
vtkDICOMParser.lib
vtkDICOMParser-gd.lib
vtkexoIIc.lib
vtkexoIIc-gd.lib
vtkexpat.lib
vtkexpat-gd.lib
vtkFiltering.lib
vtkFiltering-gd.lib
vtkfreetype.lib
vtkfreetype-gd.lib
vtkftgl.lib
vtkftgl-gd.lib
vtkGenericFiltering.lib
vtkGenericFiltering-gd.lib
vtkGeovis.lib
vtkGeovis-gd.lib
vtkGraphics.lib
vtkGraphics-gd.lib
vtkhdf5.lib
vtkhdf5_hl.lib
vtkhdf5_hl-gd.lib
vtkhdf5-gd.lib
vtkHybrid.lib
vtkHybrid-gd.lib
vtkImaging.lib
vtkImaging-gd.lib
vtkInfovis.lib
vtkInfovis-gd.lib
vtkIO.lib
vtkIO-gd.lib
vtkjpeg.lib
vtkjpeg-gd.lib
vtklibxml2.lib
vtklibxml2-gd.lib
vtkmetaio.lib
vtkmetaio-gd.lib
vtkNetCDF.lib
vtkNetCDF_cxx.lib
vtkNetCDF_cxx-gd.lib
vtkNetCDF-gd.lib
vtkpng.lib
vtkpng-gd.lib
vtkproj4.lib
vtkproj4-gd.lib
vtkRendering.lib
vtkRendering-gd.lib
vtksqlite.lib
vtksqlite-gd.lib
vtksys.lib
vtksys-gd.lib
vtktiff.lib
vtktiff-gd.lib
vtkverdict.lib
vtkverdict-gd.lib
vtkViews-gd.lib
vtkViews.lib
vtkVolumeRendering.lib
vtkVolumeRendering-gd.lib
vtkWidgets.lib
vtkWidgets-gd.lib
vtkzlib.lib
vtkzlib-gd.lib

完成配置！新建一個.cpp文件數進行測試。代碼如下：

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>

int main()
{
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new 
    pcl::PointCloud<pcl::PointXYZRGBA>);
    
    //加載pcd文件
    pcl::io::loadPCDFile("table_scene.pcd", *cloud);
	
    pcl::visualization::CloudViewer viewer("Cloud Viewer");

    viewer.showCloud(cloud);


	while(!viewer.wasStopped())
	{
	   //Do something
	}
    return 0;
}

以下是pcd文件，複製到txt文件中，修改後綴名爲.pcd即可。

# .PCD v.7 - Point Cloud Data file format
VERSION .7
FIELDS x y z rgb
SIZE 4 4 4 4
TYPE F F F F
COUNT 1 1 1 1
WIDTH 213
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 213
DATA ascii
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0.90805 0.35641 0 4.2108e+06
0.81915 0.32 0 4.2108e+06
0.97192 0.278 0 4.2108e+06
0.944 0.29474 0 4.2108e+06
0.98111 0.24247 0 4.2108e+06
0.93655 0.26143 0 4.2108e+06
0.91631 0.27442 0 4.2108e+06
0.81921 0.29315 0 4.2108e+06
0.90701 0.24109 0 4.2108e+06
0.83239 0.23398 0 4.2108e+06
0.99185 0.2116 0 4.2108e+06
0.89264 0.21174 0 4.2108e+06
0.85082 0.21212 0 4.2108e+06
0.81044 0.32222 0 4.2108e+06
0.74459 0.32192 0 4.2108e+06
0.69927 0.32278 0 4.2108e+06
0.8102 0.29315 0 4.2108e+06
0.75504 0.29765 0 4.2108e+06
0.8102 0.24399 0 4.2108e+06
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0.048446 0.31279 0 4.808e+06
0.086957 0.24399 0 4.808e+06
0.3788 0.21189 0 4.2108e+06
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0.044924 -0.3154 0 4.808e+06
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0.0007442 -0.15603 0 4.2108e+06
-0.1741 -0.17381 0 4.808e+06
-0.18502 -0.02954 0 4.808e+06
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-0.18716 -0.20571 0 4.808e+06
-0.18369 -0.23729 0 4.808e+06

總結一波c++相關庫的配置步驟：

1：下載並安裝對應版本的程序包

2：設置相對應的環境變量， 其實質是始程序能夠讀取相關的.dll文件。當dll數量較少時可不設置環境變量，直接添加相關的.dll文件到C:\Windows\\system32和C:\Windows\SysWOW64文件夾下即可。

3：在包含目錄下添加所有的include文件夾,其實質是關聯相關的頭文件(.h)和執行文件(.cpp)。

4：在庫目錄下添加所有的lib文件夾，性質和添加.dll文件類似，使得程序能夠正常執行。

5：日後再次使用該配置時，只需添加已有屬性表即可。

參考文獻：https://blog.csdn.net/qq_34510308/article/details/61205142

                  https://blog.csdn.net/lgdnr/article/details/51190685