现在PCL已经安装好了，我们可以开始配置VS2017开发环境

（1）新建一个空项目，将项目设置成64位。 
（2）切换属性管理器，在Debug|64下添加新项目属性表，取名PCL。 

（3）左侧点 VC++目录 ，右侧包含目录添加：

D:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Include; D:\Program Files\PCL 1.8.1\include\pcl-1.8; D:\Program Files\PCL 1.8.1\3rdParty\VTK\include\vtk-8.0; D:\Program Files\PCL 1.8.1\3rdParty\QHull\include; D:\Program Files\PCL 1.8.1\3rdParty\FLANN\include; D:\Program Files\PCL 1.8.1\3rdParty\Eigen\eigen3; D:\Program Files\PCL 1.8.1\3rdParty\Boost\include\boost-1_64;

左侧点链接器，再点输入，找到附加依赖项，添加如下(最后额外添加一个 opengl32.lib的库，不然会报错，大概158个链接错误，评论区有出现过） ：

vtknetcdf_c++-gd.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_stereo_debug.lib;pcl_surface_debug.lib;pcl_tracking_debug.lib;pcl_visualization_debug.lib;libboost_atomic-vc141-mt-gd-1_64.lib;libboost_bzip2-vc141-mt-gd-1_64.lib;libboost_chrono-vc141-mt-gd-1_64.lib;libboost_container-vc141-mt-gd-1_64.lib;libboost_context-vc141-mt-gd-1_64.lib;libboost_coroutine-vc141-mt-gd-1_64.lib;libboost_date_time-vc141-mt-gd-1_64.lib;libboost_exception-vc141-mt-gd-1_64.lib;libboost_fiber-vc141-mt-gd-1_64.lib;libboost_filesystem-vc141-mt-gd-1_64.lib;libboost_graph-vc141-mt-gd-1_64.lib;libboost_graph_parallel-vc141-mt-gd-1_64.lib;libboost_iostreams-vc141-mt-gd-1_64.lib;libboost_locale-vc141-mt-gd-1_64.lib;libboost_log-vc141-mt-gd-1_64.lib;libboost_log_setup-vc141-mt-gd-1_64.lib;libboost_math_c99-vc141-mt-gd-1_64.lib;libboost_math_c99f-vc141-mt-gd-1_64.lib;libboost_math_c99l-vc141-mt-gd-1_64.lib;libboost_math_tr1-vc141-mt-gd-1_64.lib;libboost_math_tr1f-vc141-mt-gd-1_64.lib;libboost_math_tr1l-vc141-mt-gd-1_64.lib;libboost_mpi-vc141-mt-gd-1_64.lib;libboost_numpy3-vc141-mt-gd-1_64.lib;libboost_numpy-vc141-mt-gd-1_64.lib;libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib;libboost_program_options-vc141-mt-gd-1_64.lib;libboost_python3-vc141-mt-gd-1_64.lib;libboost_python-vc141-mt-gd-1_64.lib;libboost_random-vc141-mt-gd-1_64.lib;libboost_regex-vc141-mt-gd-1_64.lib;libboost_serialization-vc141-mt-gd-1_64.lib;libboost_signals-vc141-mt-gd-1_64.lib;libboost_system-vc141-mt-gd-1_64.lib;libboost_test_exec_monitor-vc141-mt-gd-1_64.lib;libboost_thread-vc141-mt-gd-1_64.lib;libboost_timer-vc141-mt-gd-1_64.lib;libboost_type_erasure-vc141-mt-gd-1_64.lib;libboost_unit_test_framework-vc141-mt-gd-1_64.lib;libboost_wave-vc141-mt-gd-1_64.lib;libboost_wserialization-vc141-mt-gd-1_64.lib;libboost_zlib-vc141-mt-gd-1_64.lib;flann-gd.lib;flann_cpp-gd.lib;flann_cpp_s-gd.lib;flann_s-gd.lib;qhull_d.lib;qhullcpp_d.lib;qhullstatic_d.lib;qhullstatic_r_d.lib;qhull_p_d.lib;qhull_r_d.lib;vtkalglib-8.0-gd.lib;vtkChartsCore-8.0-gd.lib;vtkCommonColor-8.0-gd.lib;vtkCommonComputationalGeometry-8.0-gd.lib;vtkCommonCore-8.0-gd.lib;vtkCommonDataModel-8.0-gd.lib;vtkCommonExecutionModel-8.0-gd.lib;vtkCommonMath-8.0-gd.lib;vtkCommonMisc-8.0-gd.lib;vtkCommonSystem-8.0-gd.lib;vtkCommonTransforms-8.0-gd.lib;vtkDICOMParser-8.0-gd.lib;vtkDomainsChemistry-8.0-gd.lib;vtkexoIIc-8.0-gd.lib;vtkexpat-8.0-gd.lib;vtkFiltersAMR-8.0-gd.lib;vtkFiltersCore-8.0-gd.lib;vtkFiltersExtraction-8.0-gd.lib;vtkFiltersFlowPaths-8.0-gd.lib;vtkFiltersGeneral-8.0-gd.lib;vtkFiltersGeneric-8.0-gd.lib;vtkFiltersGeometry-8.0-gd.lib;vtkFiltersHybrid-8.0-gd.lib;vtkFiltersHyperTree-8.0-gd.lib;vtkFiltersImaging-8.0-gd.lib;vtkFiltersModeling-8.0-gd.lib;vtkFiltersParallel-8.0-gd.lib;vtkFiltersParallelImaging-8.0-gd.lib;vtkFiltersPoints-8.0-gd.lib;vtkFiltersProgrammable-8.0-gd.lib;vtkFiltersSelection-8.0-gd.lib;vtkFiltersSMP-8.0-gd.lib;vtkFiltersSources-8.0-gd.lib;vtkFiltersStatistics-8.0-gd.lib;vtkFiltersTexture-8.0-gd.lib;vtkFiltersTopology-8.0-gd.lib;vtkFiltersVerdict-8.0-gd.lib;vtkfreetype-8.0-gd.lib;vtkGeovisCore-8.0-gd.lib;vtkgl2ps-8.0-gd.lib;vtkhdf5-8.0-gd.lib;vtkhdf5_hl-8.0-gd.lib;vtkImagingColor-8.0-gd.lib;vtkImagingCore-8.0-gd.lib;vtkImagingFourier-8.0-gd.lib;vtkImagingGeneral-8.0-gd.lib;vtkImagingHybrid-8.0-gd.lib;vtkImagingMath-8.0-gd.lib;vtkImagingMorphological-8.0-gd.lib;vtkImagingSources-8.0-gd.lib;vtkImagingStatistics-8.0-gd.lib;vtkImagingStencil-8.0-gd.lib;vtkInfovisCore-8.0-gd.lib;vtkInfovisLayout-8.0-gd.lib;vtkInteractionImage-8.0-gd.lib;vtkInteractionStyle-8.0-gd.lib;vtkInteractionWidgets-8.0-gd.lib;vtkIOAMR-8.0-gd.lib;vtkIOCore-8.0-gd.lib;vtkIOEnSight-8.0-gd.lib;vtkIOExodus-8.0-gd.lib;vtkIOExport-8.0-gd.lib;vtkIOExportOpenGL-8.0-gd.lib;vtkIOGeometry-8.0-gd.lib;vtkIOImage-8.0-gd.lib;vtkIOImport-8.0-gd.lib;vtkIOInfovis-8.0-gd.lib;vtkIOLegacy-8.0-gd.lib;vtkIOLSDyna-8.0-gd.lib;vtkIOMINC-8.0-gd.lib;vtkIOMovie-8.0-gd.lib;vtkIONetCDF-8.0-gd.lib;vtkIOParallel-8.0-gd.lib;vtkIOParallelXML-8.0-gd.lib;vtkIOPLY-8.0-gd.lib;vtkIOSQL-8.0-gd.lib;vtkIOTecplotTable-8.0-gd.lib;vtkIOVideo-8.0-gd.lib;vtkIOXML-8.0-gd.lib;vtkIOXMLParser-8.0-gd.lib;vtkjpeg-8.0-gd.lib;vtkjsoncpp-8.0-gd.lib;vtklibharu-8.0-gd.lib;vtklibxml2-8.0-gd.lib;vtklz4-8.0-gd.lib;vtkmetaio-8.0-gd.lib;vtkNetCDF-8.0-gd.lib;vtkoggtheora-8.0-gd.lib;vtkParallelCore-8.0-gd.lib;vtkpng-8.0-gd.lib;vtkproj4-8.0-gd.lib;vtkRenderingAnnotation-8.0-gd.lib;vtkRenderingContext2D-8.0-gd.lib;vtkRenderingContextOpenGL-8.0-gd.lib;vtkRenderingCore-8.0-gd.lib;vtkRenderingFreeType-8.0-gd.lib;vtkRenderingGL2PS-8.0-gd.lib;vtkRenderingImage-8.0-gd.lib;vtkRenderingLabel-8.0-gd.lib;vtkRenderingLIC-8.0-gd.lib;vtkRenderingLOD-8.0-gd.lib;vtkRenderingOpenGL-8.0-gd.lib;vtkRenderingVolume-8.0-gd.lib;vtkRenderingVolumeOpenGL-8.0-gd.lib;vtksqlite-8.0-gd.lib;vtksys-8.0-gd.lib;vtktiff-8.0-gd.lib;vtkverdict-8.0-gd.lib;vtkViewsContext2D-8.0-gd.lib;vtkViewsCore-8.0-gd.lib;vtkViewsInfovis-8.0-gd.lib;vtkzlib-8.0-gd.lib;

opengl32.lib

（注意：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，根据自己文件夹来）

（4）（出现错误erroe c4996;_Uninitialized_copy0时添加）

右侧CC++，点击预处理器，右侧预处理器定义，添加上

_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS

（5）(可以不设置）

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)

安装测试

将下面代码拷贝到vs里，点运行，出现控制台窗口后，提示未找到点云文件，这个可以不管，不报错误，即成功配置pcl。

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

#include <vtkAutoInit.h>

VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);
VTK_MODULE_INIT(vtkRenderingOpenGL);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;
}