1、PCL下载
百度云盘链接: http://pan.baidu.com/s/1sk9T345 密码: t49d
Windows的PCL 1.6.0以后的新版本都不在官网上放出来了，转而是Github上
2、安装
选择 PCL-1.7.2-AllInOne-msvc2013-win64 进行安装（我的按默认路径）
3、修改环境变量Path
系统属性-》高级-》环境变量-》系统变量-》Path后添加下面路径，重启电脑
;C:\Program Files\PCL 1.7.2\bin;C:\Program Files\PCL 1.7.2\3rdParty\FLANN\bin;C:\Program Files\PCL 1.7.2\3rdParty\VTK\bin;C:\Program Files\PCL 1.7.2\3rdParty\Qhull\bin 4、配置VS2013开发环境
(a) VC++目录-》包含目录：
C:\Program Files\PCL 1.7.2\include\pcl-1.7
C:\Program Files\PCL 1.7.2\3rdParty\Boost\include\boost-1_57
C:\Program Files\PCL 1.7.2\3rdParty\Eigen\eigen3
C:\Program Files\PCL 1.7.2\3rdParty\FLANN\include
C:\Program Files\PCL 1.7.2\3rdParty\Qhull\include
C:\Program Files\PCL 1.7.2\3rdParty\VTK\include\vtk-6.2(b) VC++目录-》库目录：
C:\Program Files\PCL 1.7.2\lib
C:\Program Files\PCL 1.7.2\3rdParty\Boost\lib
C:\Program Files\PCL 1.7.2\3rdParty\FLANN\lib
C:\Program Files\PCL 1.7.2\3rdParty\Qhull\lib
C:\Program Files\PCL 1.7.2\3rdParty\VTK\lib(c) 链接器-》输入-》附加依赖项：
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
vtkCommonCore-6.2-gd.lib
vtkCommonColor-6.2-gd.lib
vtkCommonComputationalGeometry-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
vtkIOParallelXML-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
vtkRenderingContextOpenGL-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
kernel32.lib
user32.lib
gdi32.lib
winspool.lib
comdlg32.lib
advapi32.lib
shell32.lib
ole32.lib
oleaut32.lib
uuid.lib
odbc32.lib
odbccp32.lib(d) C/C++-》预处理器-》预处理器定义：（添加在_LIB后面）
_CRT_SECURE_NO_WARNINGS
_SCL_SECURE_NO_WARNINGS(e) 修改解决方案平台，把win32换成x64
Debug下拉-》Configuration Mangager-》Active Solution Platform-》选择x64（若没有则新建一个）
5、测试例子（txt转换成pcd,三维显示）
#include<iostream>
#include <fstream>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
int main(int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
ifstream file("test.txt");
pcl::PointXYZ p;
while (file)
{
file >> p.x >> p.y >> p.z;
cloud->push_back(p);
}
std::cout << "点云大小" << cloud->size() << endl;
pcl::visualization::CloudViewer viewer("pcd viewer");
viewer.showCloud(cloud);
system("pause");
//std::string filename("test.pcd");
//pcl::PCDWriter writer;
//writer.write(filename, *cloud);
}
新建一个名为test.txt的文档将如下的数据复制到文件中
0.0054216 0.11349 0.040749
-0.0017447 0.11425 0.041273
-0.010661 0.11338 0.040916
0.026422 0.11499 0.032623
0.024545 0.12284 0.024255
0.034137 0.11316 0.02507
0.02886 0.11773 0.027037
0.02675 0.12234 0.017605
0.03575 0.1123 0.019109
0.015982 0.12307 0.031279
0.0079813 0.12438 0.032798
0.018101 0.11674 0.035493
0.0086687 0.11758 0.037538
0.01808 0.12536 0.026132
0.0080861 0.12866 0.02619
0.02275 0.12146 0.029671
-0.0018689 0.12456 0.033184
-0.011168 0.12376 0.032519
-0.0020063 0.11937 0.038104
-0.01232 0.11816 0.037427
-0.0016659 0.12879 0.026782
-0.011971 0.12723 0.026219
0.016484 0.12828 0.01928
0.0070921 0.13103 0.018415
0.0014615 0.13134 0.017095
-0.013821 0.12886 0.019265
-0.01725 0.11202 0.040077
-0.074556 0.13415 0.051046
-0.065971 0.14396 0.04109
-0.071925 0.14545 0.043266
-0.06551 0.13624 0.042195
-0.071112 0.13767 0.047518
-0.079528 0.13416 0.051194
-0.080421 0.14428 0.042793
-0.082672 0.1378 0.046806
-0.08813 0.13514 0.042222
-0.066325 0.12347 0.050729
-0.072399 0.12662 0.052364
-0.066091 0.11973 0.050881
-0.072012 0.11811 0.052295
-0.062433 0.12627 0.043831
-0.068326 0.12998 0.048875
-0.063094 0.11811 0.044399
-0.071301 0.11322 0.04841
-0.080515 0.12741 0.052034
-0.078179 0.1191 0.051116
-0.085216 0.12609 0.049001
-0.089538 0.12621 0.044589
-0.082659 0.11661 0.04797
-0.089536 0.11784 0.04457
-0.0565 0.15248 0.030132
-0.055517 0.15313 0.026915
-0.03625 0.17198 0.00017688
-0.03775 0.17198 0.00022189
-0.03625 0.16935 0.00051958
-0.033176 0.15711 0.0018682
-0.051913 0.1545 0.011273
-0.041707 0.16642 0.0030522
-0.049468 0.16414 0.0041988
-0.041892 0.15669 0.0054879
-0.051224 0.15878 0.0080283
-0.062417 0.15317 0.033161
-0.07167 0.15319 0.033701
-0.062543 0.15524 0.027405
-0.07211 0.1555 0.027645
-0.078663 0.15269 0.032268
-0.081569 0.15374 0.026085
-0.08725 0.1523 0.022135
-0.05725 0.15568 0.010325
-0.057888 0.1575 0.0073225
-0.0885 0.15223 0.019215
-0.056129 0.14616 0.03085
-0.054705 0.13555 0.032127
-0.054144 0.14714 0.026275
-0.046625 0.13234 0.021909
-0.05139 0.13694 0.025787
-0.018278 0.12238 0.030773
-0.021656 0.11643 0.035209
-0.031921 0.11566 0.032851
-0.021348 0.12421 0.024562
-0.03241 0.12349 0.023293
-0.024869 0.12094 0.028745
-0.031747 0.12039 0.028229
-0.052912 0.12686 0.034968
-0.041672 0.11564 0.032998
-0.052037 0.1168 0.034582
-0.042495 0.12488 0.024082
-0.047946 0.12736 0.028108
-0.042421 0.12035 0.028633
-0.047661 0.12024 0.028871
-0.035964 0.1513 0.0005395
-0.050598 0.1474 0.013881
-0.046375 0.13293 0.018289
-0.049125 0.13856 0.016269
-0.042976 0.14915 0.0054003
-0.047965 0.14659 0.0086783
-0.022926 0.1263 0.018077
-0.031583 0.1259 0.017804
-0.041733 0.12796 0.01665
-0.061482 0.14698 0.036168
-0.071729 0.15026 0.038328
-0.060526 0.1368 0.035999
-0.082619 0.14823 0.035955
-0.087824 0.14449 0.033779
-0.089 0.13828 0.037774
-0.085662 0.15095 0.028208
-0.089601 0.14725 0.025869
-0.090681 0.13748 0.02369
-0.058722 0.12924 0.038992
-0.060075 0.11512 0.037685
-0.091812 0.12767 0.038703
-0.091727 0.11657 0.039619
-0.093164 0.12721 0.025211
-0.093938 0.12067 0.024399
-0.091583 0.14522 0.01986
-0.090929 0.13667 0.019817
-0.093094 0.11635 0.018959
0.024948 0.10286 0.041418
0.0336 0.092627 0.040463
0.02742 0.096386 0.043312
0.03392 0.086911 0.041034
0.028156 0.086837 0.045084
0.03381 0.078604 0.040854
0.028125 0.076874 0.045059
0.0145 0.093279 0.05088
0.0074817 0.09473 0.052315
0.017407 0.10535 0.043139
0.0079536 0.10633 0.042968
0.018511 0.097194 0.047253
0.0086436 0.099323 0.048079
-0.0020197 0.095698 0.053906
-0.011446 0.095169 0.053862
-0.001875 0.10691 0.043455
-0.011875 0.10688 0.043019
-0.0017622 0.10071 0.046648
-0.012498 0.10008 0.045916
0.016381 0.085894 0.051642
0.0081167 0.08691 0.055228
0.017644 0.076955 0.052372
0.008125 0.076853 0.055536
0.020575 0.088169 0.049006
0.022445 0.075721 0.049563
-0.0017931 0.086849 0.056843
-0.011943 0.086771 0.057009
-0.0019567 0.076863 0.057803
-0.011875 0.076964 0.057022
0.03325 0.067541 0.040033
0.028149 0.066829 0.042953
0.026761 0.057829 0.042588
0.023571 0.04746 0.040428
0.015832 0.067418 0.051639
0.0080431 0.066902 0.055006
0.013984 0.058886 0.050416
0.0080973 0.056888 0.05295
0.020566 0.065958 0.0483
0.018594 0.056539 0.047879
0.012875 0.052652 0.049689
-0.0017852 0.066712 0.056503
-0.011785 0.066885 0.055015
-0.001875 0.056597 0.05441
-0.01184 0.057054 0.052714
-0.015688 0.052469 0.049615
0.0066154 0.04993 0.051259
0.018088 0.046655 0.043321
0.008841 0.045437 0.046623
0.017688 0.039719 0.043084
0.008125 0.039516 0.045374
-0.0016111 0.049844 0.05172
-0.01245 0.046773 0.050903
-0.013851 0.039778 0.051036
-0.0020294 0.044874 0.047587
-0.011653 0.04686 0.048661
-0.0018611 0.039606 0.047339
-0.0091545 0.03958 0.049415
0.043661 0.094028 0.02252
0.034642 0.10473 0.031831
0.028343 0.1072 0.036339
0.036339 0.096552 0.034843
0.031733 0.099372 0.038505
0.036998 0.10668 0.026781
0.032875 0.11108 0.02959
0.040938 0.097132 0.026663
0.044153 0.086466 0.024241
0.05375 0.072221 0.020429
0.04516 0.076574 0.023594
0.038036 0.086663 0.035459
0.037861 0.076625 0.035658
0.042216 0.087237 0.028254
0.042355 0.076747 0.02858
0.043875 0.096228 0.015269
0.044375 0.096797 0.0086445
0.039545 0.1061 0.017655
0.042313 0.10009 0.017237
0.045406 0.087417 0.015604
0.055118 0.072639 0.017944
0.048722 0.07376 0.017434
0.045917 0.086298 0.0094211
0.019433 0.1096 0.039063
0.01097 0.11058 0.039648
0.046657 0.057153 0.031337
0.056079 0.066335 0.024122
0.048168 0.06701 0.026298
0.056055 0.057253 0.024902
0.051163 0.056662 0.029137
0.036914 0.067032 0.036122
0.033 0.06472 0.039903
0.038004 0.056507 0.033119
0.030629 0.054915 0.038484
0.041875 0.066383 0.028357
0.041434 0.06088 0.029632
0.044921 0.049904 0.031243
0.054635 0.050167 0.022044
0.04828 0.04737 0.025845
0.037973 0.048347 0.031456
0.028053 0.047061 0.035991
0.025595 0.040346 0.03415
0.038455 0.043509 0.028278
0.032031 0.043278 0.029253
0.036581 0.040335 0.025144
0.03019 0.039321 0.026847
0.059333 0.067891 0.017361
0.0465 0.071452 0.01971
0.059562 0.057747 0.01834
0.055636 0.049199 0.019173
0.0505 0.045064 0.019181
0.023 0.047803 0.039776
0.022389 0.03886 0.038795
-0.019545 0.0939 0.052205
-0.021462 0.10618 0.042059
-0.031027 0.10395 0.041228
-0.022521 0.097723 0.045194
-0.031858 0.097026 0.043878
-0.043262 0.10412 0.040891
-0.052154 0.10404 0.040972
-0.041875 0.096944 0.042424
-0.051919 0.096967 0.043563
-0.021489 0.086672 0.054767
-0.027 0.083087 0.050284
-0.02107 0.077249 0.054365
-0.026011 0.089634 0.048981
-0.031893 0.087035 0.044169
-0.025625 0.074892 0.047102
-0.03197 0.0769 0.042177
-0.041824 0.086954 0.043295
-0.051825 0.086844 0.044933
-0.041918 0.076728 0.042564
-0.051849 0.076877 0.042992
-0.061339 0.10393 0.041164
-0.072672 0.10976 0.044294
-0.061784 0.096825 0.043327
-0.070058 0.096203 0.041397
-0.080439 0.11091 0.044343
-0.061927 0.086724 0.04452
-0.070344 0.087352 0.041908
-0.06141 0.077489 0.042178
-0.068579 0.080144 0.041024
-0.019045 0.067732 0.052388
-0.017742 0.058909 0.050809
-0.023548 0.066382 0.045226
-0.03399 0.067795 0.040929
-0.02169 0.056549 0.045164
-0.036111 0.060706 0.040407
-0.041231 0.066951 0.041392
-0.048588 0.070956 0.040357
-0.0403 0.059465 0.040446
-0.02192 0.044965 0.052258
-0.029187 0.043585 0.051088
-0.021919 0.039826 0.053521
-0.030331 0.039749 0.052133
-0.021998 0.049847 0.046725
-0.031911 0.046848 0.045187
-0.035276 0.039753 0.047529
-0.042016 0.044823 0.041594
-0.05194 0.044707 0.043498
-0.041928 0.039327 0.043582
-0.051857 0.039252 0.046212
-0.059453 0.04424 0.042862
-0.060765 0.039087 0.044363
-0.024273 0.11038 0.039129
-0.032379 0.10878 0.037952
-0.041152 0.10853 0.037969
-0.051698 0.10906 0.038258
-0.062091 0.10877 0.038274
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-0.069935 0.17983 -0.051988
-0.07793 0.17516 -0.0444参考：