一、安装程序

1.vs2013

链接：https://pan.baidu.com/s/1xg2jZfy5daajU8L51w4Tmg 

提取码：5142 

(1)下载完成后打开下载的iso文件，双击下图的可执行程序进入安装程序

(2)选择安装路径，点击同意许可条款和隐私策略进入下一步，选择需要安装的功能

(3)点击开始安装，安装成功后即可启动vs2013

(4)在VS中的 “帮助” >“注册产品”->“更改我的产品许可证”，序列号复制进去点击应用即可

Visual Studio Ultimate 2013 KEY（密钥）：BWG7X-J98B3-W34RT-33B3R-JVYW9

Visual Studio Premium 2013 KEY（密钥）：FBJVC-3CMTX-D8DVP-RTQCT-92494

Visual Studio Professional 2013  KEY（密钥）： XDM3T-W3T3V-MGJWK-8BFVD-GVPKY

Team Foundation Server 2013 KEY（密钥）：MHG9J-HHHX9-WWPQP-D8T7H-7KCQG

2.QT5.9.3 

qt-opensource-windows-x86-5.9.3.exe，这个版本包含了msvc2013 64bit的qmake版本，下载地址：http://download.qt.io/archive/qt/

下载完成后默认安装即可

3.PCL1.8.0

链接：https://pan.baidu.com/s/1iwOPGfsAJ5HRZXqMX7R0BQ 

提取码：81W2 

(1)安装时会有一步提示是否选择添加到系统环境变量，选择添加到所有用户

(2)安装路径不要带有空格，选择OpenNI2 SDK的安装路径时选择 \PCL1.8.0\3rdParty\OpenNI2 这个路径

(3)若提示path too long，安装后需手动添加环境变量（别人的图，我的没有配置也不长这样）

4.点云文件样例

链接：https://pan.baidu.com/s/1mCYwfsn3yjBovZPgFZrA6g 

提取码：4e12 

放入项目目录下

二、配置QT

构建套件，如下图配置

注意红框中的内容

调试器可能有的人没有windows的Debugger\x64\cdb.exe，所以需要去下载，下载地址：

https://developer.microsoft.com/en-us/windows/downloads/sdk-archive

最后在需要使用的项目pro文件中添加如下代码

INCLUDEPATH += D:/workspace/PCL/PCL-1.8.0/include/pcl-1.8\


INCLUDEPATH += D:/workspace/PCL/PCL-1.8.0/include/pcl-1.8/pcl\


INCLUDEPATH += D:/workspace/PCL/PCL-1.8.0/3rdParty/Boost/include/boost-1_59\


INCLUDEPATH += D:/workspace/PCL/PCL-1.8.0/3rdParty/Eigen/eigen3\


INCLUDEPATH += D:/workspace/PCL/PCL-1.8.0/3rdParty/FLANN/include\


INCLUDEPATH += D:/workspace/PCL/PCL-1.8.0/3rdParty/FLANN/include/flann\


INCLUDEPATH += D:/workspace/PCL/PCL-1.8.0/3rdParty/OpenNI2/Include\


INCLUDEPATH += D:/workspace/PCL/PCL-1.8.0/3rdParty/Qhull/include\


INCLUDEPATH += D:/workspace/PCL/PCL-1.8.0/3rdParty/VTK/include/vtk-7.0\

CONFIG(debug,debug|release){
LIBS += -LD:/workspace/PCL/PCL-1.8.0/lib\
        -lpcl_apps_debug\
        -lpcl_common_debug\
        -lpcl_features_debug\
        -lpcl_filters_debug\
        -lpcl_io_debug\
        -lpcl_io_ply_debug\
        -lpcl_kdtree_debug\
        -lpcl_keypoints_debug\
        -lpcl_ml_debug\
        -lpcl_octree_debug\
        -lpcl_outofcore_debug\
        -lpcl_people_debug\
        -lpcl_recognition_debug\
        -lpcl_registration_debug\
        -lpcl_sample_consensus_debug\
        -lpcl_search_debug\
        -lpcl_segmentation_debug\
        -lpcl_simulation_debug\
        -lpcl_stereo_debug\
        -lpcl_surface_debug\
        -lpcl_tracking_debug\
        -lpcl_visualization_debug\

LIBS += -LD:/workspace/PCL/PCL-1.8.0/3rdParty/Boost/lib\
        -llibboost_atomic-vc120-mt-gd-1_59\
        -llibboost_chrono-vc120-mt-gd-1_59\
        -llibboost_container-vc120-mt-gd-1_59\
        -llibboost_context-vc120-mt-gd-1_59\
        -llibboost_coroutine-vc120-mt-gd-1_59\
        -llibboost_date_time-vc120-mt-gd-1_59\
        -llibboost_exception-vc120-mt-gd-1_59\
        -llibboost_filesystem-vc120-mt-gd-1_59\
        -llibboost_graph-vc120-mt-gd-1_59\
        -llibboost_iostreams-vc120-mt-gd-1_59\
        -llibboost_locale-vc120-mt-gd-1_59\
        -llibboost_log-vc120-mt-gd-1_59\
        -llibboost_log_setup-vc120-mt-gd-1_59\
        -llibboost_math_c99-vc120-mt-gd-1_59\
        -llibboost_math_c99f-vc120-mt-gd-1_59\
        -llibboost_math_c99l-vc120-mt-gd-1_59\
        -llibboost_math_tr1-vc120-mt-gd-1_59\
        -llibboost_math_tr1f-vc120-mt-gd-1_59\
        -llibboost_math_tr1l-vc120-mt-gd-1_59\
        -llibboost_mpi-vc120-mt-gd-1_59\
        -llibboost_prg_exec_monitor-vc120-mt-gd-1_59\
        -llibboost_program_options-vc120-mt-gd-1_59\
        -llibboost_random-vc120-mt-gd-1_59\
        -llibboost_regex-vc120-mt-gd-1_59\
        -llibboost_serialization-vc120-mt-gd-1_59\
        -llibboost_signals-vc120-mt-gd-1_59\
        -llibboost_system-vc120-mt-gd-1_59\
        -llibboost_test_exec_monitor-vc120-mt-gd-1_59\
        -llibboost_thread-vc120-mt-gd-1_59\
        -llibboost_timer-vc120-mt-gd-1_59\
        -llibboost_unit_test_framework-vc120-mt-gd-1_59\
        -llibboost_wave-vc120-mt-gd-1_59\
        -llibboost_wserialization-vc120-mt-gd-1_59

LIBS += -LD:/workspace/PCL/PCL-1.8.0/3rdParty/FLANN/lib\
        -lflann-gd\
        -lflann_cpp_s-gd\
        -lflann_s-gd

LIBS += -LD:/workspace/PCL/PCL-1.8.0/3rdParty/OpenNI2/Lib\
        -lOpenNI2

LIBS += -LD:/workspace/PCL/PCL-1.8.0/3rdParty/Qhull/lib\
        -lqhull-gd\
        -lqhullcpp-gd\
        -lqhullstatic-gd\
        -lqhullstatic_r-gd\
        -lqhull_p-gd\
        -lqhull_r-gd

LIBS += -LD:\workspace\PCL\PCL-1.8.0\3rdParty\VTK\lib\
        -lvtkalglib-7.0-gd\
        -lvtkChartsCore-7.0-gd\
        -lvtkCommonColor-7.0-gd\
        -lvtkCommonComputationalGeometry-7.0-gd\
        -lvtkCommonCore-7.0-gd\
        -lvtkCommonDataModel-7.0-gd\
        -lvtkCommonExecutionModel-7.0-gd\
        -lvtkCommonMath-7.0-gd\
        -lvtkCommonMisc-7.0-gd\
        -lvtkCommonSystem-7.0-gd\
        -lvtkCommonTransforms-7.0-gd\
        -lvtkDICOMParser-7.0-gd\
        -lvtkDomainsChemistry-7.0-gd\
        -lvtkDomainsChemistryOpenGL2-7.0-gd\
        -lvtkexoIIc-7.0-gd\
        -lvtkexpat-7.0-gd\
        -lvtkFiltersAMR-7.0-gd\
        -lvtkFiltersCore-7.0-gd\
        -lvtkFiltersExtraction-7.0-gd\
        -lvtkFiltersFlowPaths-7.0-gd\
        -lvtkFiltersGeneral-7.0-gd\
        -lvtkFiltersGeneric-7.0-gd\
        -lvtkFiltersGeometry-7.0-gd\
        -lvtkFiltersHybrid-7.0-gd\
        -lvtkFiltersHyperTree-7.0-gd\
        -lvtkFiltersImaging-7.0-gd\
        -lvtkFiltersModeling-7.0-gd\
        -lvtkFiltersParallel-7.0-gd\
        -lvtkFiltersParallelImaging-7.0-gd\
        -lvtkFiltersProgrammable-7.0-gd\
        -lvtkFiltersSelection-7.0-gd\
        -lvtkFiltersSMP-7.0-gd\
        -lvtkFiltersSources-7.0-gd\
        -lvtkFiltersStatistics-7.0-gd\
        -lvtkFiltersTexture-7.0-gd\
        -lvtkFiltersVerdict-7.0-gd\
        -lvtkfreetype-7.0-gd\
        -lvtkGeovisCore-7.0-gd\
        -lvtkglew-7.0-gd\
        -lvtkGUISupportQt-7.0-gd\
        -lvtkGUISupportQtSQL-7.0-gd\
        -lvtkhdf5-7.0-gd\
        -lvtkhdf5_hl-7.0-gd\
        -lvtkImagingColor-7.0-gd\
        -lvtkImagingCore-7.0-gd\
        -lvtkImagingFourier-7.0-gd\
        -lvtkImagingGeneral-7.0-gd\
        -lvtkImagingHybrid-7.0-gd\
        -lvtkImagingMath-7.0-gd\
        -lvtkImagingMorphological-7.0-gd\
        -lvtkImagingSources-7.0-gd\
        -lvtkImagingStatistics-7.0-gd\
        -lvtkImagingStencil-7.0-gd\
        -lvtkInfovisCore-7.0-gd\
        -lvtkInfovisLayout-7.0-gd\
        -lvtkInteractionImage-7.0-gd\
        -lvtkInteractionStyle-7.0-gd\
        -lvtkInteractionWidgets-7.0-gd\
        -lvtkIOAMR-7.0-gd\
        -lvtkIOCore-7.0-gd\
        -lvtkIOEnSight-7.0-gd\
        -lvtkIOExodus-7.0-gd\
        -lvtkIOExport-7.0-gd\
        -lvtkIOGeometry-7.0-gd\
        -lvtkIOImage-7.0-gd\
        -lvtkIOImport-7.0-gd\
        -lvtkIOInfovis-7.0-gd\
        -lvtkIOLegacy-7.0-gd\
        -lvtkIOLSDyna-7.0-gd\
        -lvtkIOMINC-7.0-gd\
        -lvtkIOMovie-7.0-gd\
        -lvtkIONetCDF-7.0-gd\
        -lvtkIOParallel-7.0-gd\
        -lvtkIOParallelXML-7.0-gd\
        -lvtkIOPLY-7.0-gd\
        -lvtkIOSQL-7.0-gd\
        -lvtkIOVideo-7.0-gd\
        -lvtkIOXML-7.0-gd\
        -lvtkIOXMLParser-7.0-gd\
        -lvtkjpeg-7.0-gd\
        -lvtkjsoncpp-7.0-gd\
        -lvtklibxml2-7.0-gd\
        -lvtkmetaio-7.0-gd\
        -lvtkNetCDF-7.0-gd\
        -lvtkNetCDF_cxx-7.0-gd\
        -lvtkoggtheora-7.0-gd\
        -lvtkParallelCore-7.0-gd\
        -lvtkpng-7.0-gd\
        -lvtkproj4-7.0-gd\
        -lvtkRenderingAnnotation-7.0-gd\
        -lvtkRenderingContext2D-7.0-gd\
        -lvtkRenderingContextOpenGL2-7.0-gd\
        -lvtkRenderingCore-7.0-gd\
        -lvtkRenderingFreeType-7.0-gd\
        -lvtkRenderingImage-7.0-gd\
        -lvtkRenderingLabel-7.0-gd\
        -lvtkRenderingLOD-7.0-gd\
        -lvtkRenderingOpenGL2-7.0-gd\
        -lvtkRenderingQt-7.0-gd\
        -lvtkRenderingVolume-7.0-gd\
        -lvtkRenderingVolumeOpenGL2-7.0-gd\
        -lvtksqlite-7.0-gd\
        -lvtksys-7.0-gd\
        -lvtktiff-7.0-gd\
        -lvtkverdict-7.0-gd\
        -lvtkViewsContext2D-7.0-gd\
        -lvtkViewsCore-7.0-gd\
        -lvtkViewsInfovis-7.0-gd\
        -lvtkViewsQt-7.0-gd\
        -lvtkzlib-7.0-gd

} else {
LIBS += -LD:/workspace/PCL/PCL-1.8.0/lib\
        -lpcl_apps_release\
        -lpcl_common_release\
        -lpcl_features_release\
        -lpcl_filters_release\
        -lpcl_io_release\
        -lpcl_io_ply_release\
        -lpcl_kdtree_release\
        -lpcl_keypoints_release\
        -lpcl_ml_release\
        -lpcl_octree_release\
        -lpcl_outofcore_release\
        -lpcl_people_release\
        -lpcl_recognition_release\
        -lpcl_registration_release\
        -lpcl_sample_consensus_release\
        -lpcl_search_release\
        -lpcl_segmentation_release\
        -lpcl_simulation_release\
        -lpcl_stereo_release\
        -lpcl_surface_release\
        -lpcl_tracking_release\
        -lpcl_visualization_release\

LIBS += -LD:/workspace/PCL/PCL-1.8.0/3rdParty/Boost/lib\
        -llibboost_atomic-vc120-mt-1_59\
        -llibboost_chrono-vc120-mt-1_59\
        -llibboost_container-vc120-mt-1_59\
        -llibboost_context-vc120-mt-1_59\
        -llibboost_coroutine-vc120-mt-1_59\
        -llibboost_date_time-vc120-mt-1_59\
        -llibboost_exception-vc120-mt-1_59\
        -llibboost_filesystem-vc120-mt-1_59\
        -llibboost_graph-vc120-mt-1_59\
        -llibboost_iostreams-vc120-mt-1_59\
        -llibboost_locale-vc120-mt-1_59\
        -llibboost_log-vc120-mt-1_59\
        -llibboost_log_setup-vc120-mt-1_59\
        -llibboost_math_c99-vc120-mt-1_59\
        -llibboost_math_c99f-vc120-mt-1_59\
        -llibboost_math_c99l-vc120-mt-1_59\
        -llibboost_math_tr1-vc120-mt-1_59\
        -llibboost_math_tr1f-vc120-mt-1_59\
        -llibboost_math_tr1l-vc120-mt-1_59\
        -llibboost_mpi-vc120-mt-1_59\
        -llibboost_prg_exec_monitor-vc120-mt-1_59\
        -llibboost_program_options-vc120-mt-1_59\
        -llibboost_random-vc120-mt-1_59\
        -llibboost_regex-vc120-mt-1_59\
        -llibboost_serialization-vc120-mt-1_59\
        -llibboost_signals-vc120-mt-1_59\
        -llibboost_system-vc120-mt-1_59\
        -llibboost_test_exec_monitor-vc120-mt-1_59\
        -llibboost_thread-vc120-mt-1_59\
        -llibboost_timer-vc120-mt-1_59\
        -llibboost_unit_test_framework-vc120-mt-1_59\
        -llibboost_wave-vc120-mt-1_59\
        -llibboost_wserialization-vc120-mt-1_59

LIBS += -LD:/workspace/PCL/PCL-1.8.0/3rdParty/FLANN/lib\
        -lflann\
        -lflann_cpp_s\
        -lflann_s

LIBS += -LD:/workspace/PCL/PCL-1.8.0/3rdParty/OpenNI2/Lib\
        -lOpenNI2

LIBS += -LD:/workspace/PCL/PCL-1.8.0/3rdParty/Qhull/lib\
        -lqhull\
        -lqhullcpp\
        -lqhullstatic\
        -lqhullstatic_r\
        -lqhull_p\
        -lqhull_r

LIBS += -LD:\workspace\PCL\PCL-1.8.0\3rdParty\VTK\lib\
        -lvtkalglib-7.0\
        -lvtkChartsCore-7.0\
        -lvtkCommonColor-7.0\
        -lvtkCommonComputationalGeometry-7.0\
        -lvtkCommonCore-7.0\
        -lvtkCommonDataModel-7.0\
        -lvtkCommonExecutionModel-7.0\
        -lvtkCommonMath-7.0\
        -lvtkCommonMisc-7.0\
        -lvtkCommonSystem-7.0\
        -lvtkCommonTransforms-7.0\
        -lvtkDICOMParser-7.0\
        -lvtkDomainsChemistry-7.0\
        -lvtkDomainsChemistryOpenGL2-7.0\
        -lvtkexoIIc-7.0\
        -lvtkexpat-7.0\
        -lvtkFiltersAMR-7.0\
        -lvtkFiltersCore-7.0\
        -lvtkFiltersExtraction-7.0\
        -lvtkFiltersFlowPaths-7.0\
        -lvtkFiltersGeneral-7.0\
        -lvtkFiltersGeneric-7.0\
        -lvtkFiltersGeometry-7.0\
        -lvtkFiltersHybrid-7.0\
        -lvtkFiltersHyperTree-7.0\
        -lvtkFiltersImaging-7.0\
        -lvtkFiltersModeling-7.0\
        -lvtkFiltersParallel-7.0\
        -lvtkFiltersParallelImaging-7.0\
        -lvtkFiltersProgrammable-7.0\
        -lvtkFiltersSelection-7.0\
        -lvtkFiltersSMP-7.0\
        -lvtkFiltersSources-7.0\
        -lvtkFiltersStatistics-7.0\
        -lvtkFiltersTexture-7.0\
        -lvtkFiltersVerdict-7.0\
        -lvtkfreetype-7.0\
        -lvtkGeovisCore-7.0\
        -lvtkglew-7.0\
        -lvtkGUISupportQt-7.0\
        -lvtkGUISupportQtSQL-7.0\
        -lvtkhdf5-7.0\
        -lvtkhdf5_hl-7.0\
        -lvtkImagingColor-7.0\
        -lvtkImagingCore-7.0\
        -lvtkImagingFourier-7.0\
        -lvtkImagingGeneral-7.0\
        -lvtkImagingHybrid-7.0\
        -lvtkImagingMath-7.0\
        -lvtkImagingMorphological-7.0\
        -lvtkImagingSources-7.0\
        -lvtkImagingStatistics-7.0\
        -lvtkImagingStencil-7.0\
        -lvtkInfovisCore-7.0\
        -lvtkInfovisLayout-7.0\
        -lvtkInteractionImage-7.0\
        -lvtkInteractionStyle-7.0\
        -lvtkInteractionWidgets-7.0\
        -lvtkIOAMR-7.0\
        -lvtkIOCore-7.0\
        -lvtkIOEnSight-7.0\
        -lvtkIOExodus-7.0\
        -lvtkIOExport-7.0\
        -lvtkIOGeometry-7.0\
        -lvtkIOImage-7.0\
        -lvtkIOImport-7.0\
        -lvtkIOInfovis-7.0\
        -lvtkIOLegacy-7.0\
        -lvtkIOLSDyna-7.0\
        -lvtkIOMINC-7.0\
        -lvtkIOMovie-7.0\
        -lvtkIONetCDF-7.0\
        -lvtkIOParallel-7.0\
        -lvtkIOParallelXML-7.0\
        -lvtkIOPLY-7.0\
        -lvtkIOSQL-7.0\
        -lvtkIOVideo-7.0\
        -lvtkIOXML-7.0\
        -lvtkIOXMLParser-7.0\
        -lvtkjpeg-7.0\
        -lvtkjsoncpp-7.0\
        -lvtklibxml2-7.0\
        -lvtkmetaio-7.0\
        -lvtkNetCDF-7.0\
        -lvtkNetCDF_cxx-7.0\
        -lvtkoggtheora-7.0\
        -lvtkParallelCore-7.0\
        -lvtkpng-7.0\
        -lvtkproj4-7.0\
        -lvtkRenderingAnnotation-7.0\
        -lvtkRenderingContext2D-7.0\
        -lvtkRenderingContextOpenGL2-7.0\
        -lvtkRenderingCore-7.0\
        -lvtkRenderingFreeType-7.0\
        -lvtkRenderingImage-7.0\
        -lvtkRenderingLabel-7.0\
        -lvtkRenderingLOD-7.0\
        -lvtkRenderingOpenGL2-7.0\
        -lvtkRenderingQt-7.0\
        -lvtkRenderingVolume-7.0\
        -lvtkRenderingVolumeOpenGL2-7.0\
        -lvtksqlite-7.0\
        -lvtksys-7.0\
        -lvtktiff-7.0\
        -lvtkverdict-7.0\
        -lvtkViewsContext2D-7.0\
        -lvtkViewsCore-7.0\
        -lvtkViewsInfovis-7.0\
        -lvtkViewsQt-7.0\
        -lvtkzlib-7.0
}

配置就完成了