最近在学习pcl，C++早就忘记了，所以踩了好些坑
不过终于通过了，特此记录下来
环境：win7+pcl1.81+vs2015
1.安装pcl1.81
下载PCL-1.8.1-AllInOne-msvc2015-win64.exe
链接：https://pan.baidu.com/s/1wikg-6uNeBdJf2Ra2EA2fA
提取码：j88f
安装一直下一步，在弹出OpenNI的安装程序
将OpenNI的安装路径设置为“PCL_ROOT”下3rdParty\OpenNI2文件夹，如C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2
说明：
安装结束后若提示“路径过长无法添加环境变量”，需要手动加上环境变量
set PCL_ROOT=C:\Program Files\PCL 1.8.1 set OPENNI2_INCLUDE64=C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Include set OPENNI2_LIB64=C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Lib set OPENNI2_REDIST64=C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Redist set path=%path%;%PCL_ROOT%\bin\;C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Tools;C:\Program Files\PCL 1.8.1\3rdParty\VTK\bin;
2.应用
（1）创建工程pcl
文件—》新建—》项目
（2）配置，调试—》pcl属性
A.配置属性—》调试—》环境
path = C:\Program Files\PCL 1.8.1\bin
B.配置属性—》C/C++—》预处理器
追加
_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS
PCL_NO_PRECOMPILE
C.配置属性—》VC++目录—》包含目录
C:\Program Files\PCL 1.8.1\include\pcl-1.8
C:\Program Files\PCL 1.8.1\3rdParty\Boost\include\boost-1_64
C:\Program Files\PCL 1.8.1\3rdParty\Eigen\eigen3
C:\Program Files\PCL 1.8.1\3rdParty\FLANN\include
C:\Program Files\PCL 1.8.1\3rdParty\Qhull\include
C:\Program Files\PCL 1.8.1\3rdParty\VTK\include\vtk-8.0
C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Include
D.配置属性—》VC++目录—》库目录
C:\Program Files\PCL 1.8.1\lib
C:\Program Files\PCL 1.8.1\3rdParty\Boost\lib
C:\Program Files\PCL 1.8.1\3rdParty\FLANN\lib
C:\Program Files\PCL 1.8.1\3rdParty\Qhull\lib
C:\Program Files\PCL 1.8.1\3rdParty\VTK\lib
C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Lib
E.配置属性—》链接器—》附加依赖项
在Debug模式
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-vc140-mt-gd-1_64.lib libboost_chrono-vc140-mt-gd-1_64.lib libboost_container-vc140-mt-gd-1_64.lib libboost_context-vc140-mt-gd-1_64.lib libboost_coroutine-vc140-mt-gd-1_64.lib libboost_date_time-vc140-mt-gd-1_64.lib libboost_exception-vc140-mt-gd-1_64.lib libboost_filesystem-vc140-mt-gd-1_64.lib libboost_graph-vc140-mt-gd-1_64.lib libboost_iostreams-vc140-mt-gd-1_64.lib libboost_locale-vc140-mt-gd-1_64.lib libboost_log-vc140-mt-gd-1_64.lib libboost_log_setup-vc140-mt-gd-1_64.lib libboost_math_c99-vc140-mt-gd-1_64.lib libboost_math_c99f-vc140-mt-gd-1_64.lib libboost_math_c99l-vc140-mt-gd-1_64.lib libboost_math_tr1-vc140-mt-gd-1_64.lib libboost_math_tr1f-vc140-mt-gd-1_64.lib libboost_math_tr1l-vc140-mt-gd-1_64.lib libboost_mpi-vc140-mt-gd-1_64.lib libboost_prg_exec_monitor-vc140-mt-gd-1_64.lib libboost_program_options-vc140-mt-gd-1_64.lib libboost_random-vc140-mt-gd-1_64.lib libboost_regex-vc140-mt-gd-1_64.lib libboost_serialization-vc140-mt-gd-1_64.lib libboost_signals-vc140-mt-gd-1_64.lib libboost_system-vc140-mt-gd-1_64.lib libboost_test_exec_monitor-vc140-mt-gd-1_64.lib libboost_thread-vc140-mt-gd-1_64.lib libboost_timer-vc140-mt-gd-1_64.lib libboost_unit_test_framework-vc140-mt-gd-1_64.lib libboost_wave-vc140-mt-gd-1_64.lib libboost_wserialization-vc140-mt-gd-1_64.lib flann-gd.lib flann_s-gd.lib flann_cpp-gd.lib flann_cpp_s-gd.lib qhull_d.lib qhull_p_d.lib qhull_r_d.lib qhullcpp_d.lib qhullstatic_d.lib qhullstatic_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_c++-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 OpenNI2.lib