参考：https://blog.csdn.net/m0_51496369/article/details/148960709

一、下载

【注】 核对各软件的版本号
PCL需要下载两个文件：
在这里插入图片描述
官网下载地址：https://github.com/PointCloudLibrary/pcl/releases
官网下载较慢，百度云资源： https://pan.baidu.com/s/1aKnC9rppCNJEC-29BnhSAg 提取码: tcgh

PCL安装包下载地址：

PCL 1.13.1 (64位，VS2022)
https://ghproxy.com/https://github.com/PointCloudLibrary/pcl/releases/download/pcl-1.13.1/PCL-1.13.1-AllInOne-msvc2022-win64.exe

pcl-1.13.1-pdb-msvc2022-win64.zip

https://release-assets.githubusercontent.com/github-production-release-asset/8162615/ebb3fc72-3b38-47de-a146-a06a6abbc431?sp=r&sv=2018-11-09&sr=b&spr=https&se=2025-08-26T08%3A50%3A48Z&rscd=attachment%3B+filename%3Dpcl-1.13.1-pdb-msvc2022-win64.zip&rsct=application%2Foctet-stream&skoid=96c2d410-5711-43a1-aedd-ab1947aa7ab0&sktid=398a6654-997b-47e9-b12b-9515b896b4de&skt=2025-08-26T07%3A49%3A59Z&ske=2025-08-26T08%3A50%3A48Z&sks=b&skv=2018-11-09&sig=NaY7SiUrYrHFSQV%2B3KYQ8%2FFxxDpQWPauvqHE9IMuzc8%3D&jwt=eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmVsZWFzZS1hc3NldHMuZ2l0aHVidXNlcmNvbnRlbnQuY29tIiwia2V5Ijoia2V5MSIsImV4cCI6MTc1NjE5NjEzNCwibmJmIjoxNzU2MTk1ODM0LCJwYXRoIjoicmVsZWFzZWFzc2V0cHJvZHVjdGlvbi5ibG9iLmNvcmUud2luZG93cy5uZXQifQ.Axb3tLvKl8W5jdX5LQxG23H98gGnLvsMDQPvS1flhUg&response-content-disposition=attachment%3B%20filename%3Dpcl-1.13.1-pdb-msvc2022-win64.zip&response-content-type=application%2Foctet-stream

二、安装

1、双击运行PCL-1.13.1-AllInOne-msvc2022-win64.exe，安装组件选择PCL+3rd Party Libraries并一路下一步，然后等待安装完成；
2、解压pcl-1.13.1-pdb-msvc2022-win64.zip文件，将解压后的文件全部复制到PCL安装目录下的bin文件夹中；
3、安装OpenNI2，执行如下文件OpenNI-Windows-x64-2.2.msi，该文件存在路径为pcl安装目录下的3rdParty/OpenNI2/,双击安装，如果已经安装过，点击remove移除后再下载
4、安装完成。

三、环境配置

1、配置系统环境变量
将FLANN、VTK的bin文件夹和OPENNI2的lib、redist、include文件夹都添加到系统环境变量的path中

在这里插入图片描述

上图中%PCL_ROOT%、%OPENNI2_REDIST64%、%OPENNI2_LIB64%、%OPENNI2_INCLUDE64%的定义如下图：
在这里插入图片描述
2、配置vs2022的开发环境
2.1 Debug模式

2.1.1 设置VC++目录下的包含目录和库目录
在这里插入图片描述
包含目录：务必添加如下的include路径，包括pcl-1.13、Boost、Eigen、FLANN、OpenNI2、Qhull、VTK
在这里插入图片描述
库目录：添加如下lib路径，包括PCL 1.13.1、Boost、FLANN、OpenNI2、Qhull、VTK
在这里插入图片描述
2.1.2 C/C++的预处理器
添加如下指令：

BOOST_USE_WINDOWS_H
NOMINMAX
_CRT_SECURE_NO_DEPRECATE

2.1.3 C/C++的语言

符合模式改为否

2.1.4 C/C++代码生成

启用增强指令集，改为高级矢量扩展 (X86/X64) (/arch:AVX)

2.1.5 链接器的输入

附加依赖项中添加如下

vtkcgns-9.2-gd.lib
vtkChartsCore-9.2-gd.lib
vtkCommonColor-9.2-gd.lib
vtkCommonComputationalGeometry-9.2-gd.lib
vtkCommonCore-9.2-gd.lib
vtkCommonDataModel-9.2-gd.lib
vtkCommonExecutionModel-9.2-gd.lib
vtkCommonMath-9.2-gd.lib
vtkCommonMisc-9.2-gd.lib
vtkCommonSystem-9.2-gd.lib
vtkCommonTransforms-9.2-gd.lib
vtkDICOMParser-9.2-gd.lib
vtkDomainsChemistry-9.2-gd.lib
vtkDomainsChemistryOpenGL2-9.2-gd.lib
vtkdoubleconversion-9.2-gd.lib
vtkexodusII-9.2-gd.lib
vtkexpat-9.2-gd.lib
vtkFiltersAMR-9.2-gd.lib
vtkFiltersCore-9.2-gd.lib
vtkFiltersExtraction-9.2-gd.lib
vtkFiltersFlowPaths-9.2-gd.lib
vtkFiltersGeneral-9.2-gd.lib
vtkFiltersGeneric-9.2-gd.lib
vtkFiltersGeometry-9.2-gd.lib
vtkFiltersHybrid-9.2-gd.lib
vtkFiltersHyperTree-9.2-gd.lib
vtkFiltersImaging-9.2-gd.lib
vtkFiltersModeling-9.2-gd.lib
vtkFiltersParallel-9.2-gd.lib
vtkFiltersParallelImaging-9.2-gd.lib
vtkFiltersPoints-9.2-gd.lib
vtkFiltersProgrammable-9.2-gd.lib
vtkFiltersSelection-9.2-gd.lib
vtkFiltersSMP-9.2-gd.lib
vtkFiltersSources-9.2-gd.lib
vtkFiltersStatistics-9.2-gd.lib
vtkFiltersTexture-9.2-gd.lib
vtkFiltersTopology-9.2-gd.lib
vtkFiltersVerdict-9.2-gd.lib
vtkfmt-9.2-gd.lib
vtkfreetype-9.2-gd.lib
vtkGeovisCore-9.2-gd.lib
vtkgl2ps-9.2-gd.lib
vtkglew-9.2-gd.lib
vtkhdf5-9.2-gd.lib
vtkhdf5_hl-9.2-gd.lib
vtkImagingColor-9.2-gd.lib
vtkImagingCore-9.2-gd.lib
vtkImagingFourier-9.2-gd.lib
vtkImagingGeneral-9.2-gd.lib
vtkImagingHybrid-9.2-gd.lib
vtkImagingMath-9.2-gd.lib
vtkImagingMorphological-9.2-gd.lib
vtkImagingSources-9.2-gd.lib
vtkImagingStatistics-9.2-gd.lib
vtkImagingStencil-9.2-gd.lib
vtkInfovisCore-9.2-gd.lib
vtkInfovisLayout-9.2-gd.lib
vtkInteractionImage-9.2-gd.lib
vtkInteractionStyle-9.2-gd.lib
vtkInteractionWidgets-9.2-gd.lib
vtkIOAMR-9.2-gd.lib
vtkIOAsynchronous-9.2-gd.lib
vtkIOCesium3DTiles-9.2-gd.lib
vtkIOCGNSReader-9.2-gd.lib
vtkIOChemistry-9.2-gd.lib
vtkIOCityGML-9.2-gd.lib
vtkIOCONVERGECFD-9.2-gd.lib
vtkIOCore-9.2-gd.lib
vtkIOEnSight-9.2-gd.lib
vtkIOExodus-9.2-gd.lib
vtkIOExport-9.2-gd.lib
vtkIOExportGL2PS-9.2-gd.lib
vtkIOExportPDF-9.2-gd.lib
vtkIOGeometry-9.2-gd.lib
vtkIOHDF-9.2-gd.lib
vtkIOImage-9.2-gd.lib
vtkIOImport-9.2-gd.lib
vtkIOInfovis-9.2-gd.lib
vtkIOIOSS-9.2-gd.lib
vtkIOLegacy-9.2-gd.lib
vtkIOLSDyna-9.2-gd.lib
vtkIOMINC-9.2-gd.lib
vtkIOMotionFX-9.2-gd.lib
vtkIOMovie-9.2-gd.lib
vtkIONetCDF-9.2-gd.lib
vtkIOOggTheora-9.2-gd.lib
vtkIOParallel-9.2-gd.lib
vtkIOParallelXML-9.2-gd.lib
vtkIOPLY-9.2-gd.lib
vtkIOSegY-9.2-gd.lib
vtkIOSQL-9.2-gd.lib
vtkioss-9.2-gd.lib
vtkIOTecplotTable-9.2-gd.lib
vtkIOVeraOut-9.2-gd.lib
vtkIOVideo-9.2-gd.lib
vtkIOXML-9.2-gd.lib
vtkIOXMLParser-9.2-gd.lib
vtkjpeg-9.2-gd.lib
vtkjsoncpp-9.2-gd.lib
vtkkissfft-9.2-gd.lib
vtklibharu-9.2-gd.lib
vtklibproj-9.2-gd.lib
vtklibxml2-9.2-gd.lib
vtkloguru-9.2-gd.lib
vtklz4-9.2-gd.lib
vtklzma-9.2-gd.lib
vtkmetaio-9.2-gd.lib
vtknetcdf-9.2-gd.lib
vtkogg-9.2-gd.lib
vtkParallelCore-9.2-gd.lib
vtkParallelDIY-9.2-gd.lib
vtkpng-9.2-gd.lib
vtkpugixml-9.2-gd.lib
vtkRenderingAnnotation-9.2-gd.lib
vtkRenderingContext2D-9.2-gd.lib
vtkRenderingContextOpenGL2-9.2-gd.lib
vtkRenderingCore-9.2-gd.lib
vtkRenderingFreeType-9.2-gd.lib
vtkRenderingGL2PSOpenGL2-9.2-gd.lib
vtkRenderingHyperTreeGrid-9.2-gd.lib
vtkRenderingImage-9.2-gd.lib
vtkRenderingLabel-9.2-gd.lib
vtkRenderingLICOpenGL2-9.2-gd.lib
vtkRenderingLOD-9.2-gd.lib
vtkRenderingOpenGL2-9.2-gd.lib
vtkRenderingSceneGraph-9.2-gd.lib
vtkRenderingUI-9.2-gd.lib
vtkRenderingVolume-9.2-gd.lib
vtkRenderingVolumeOpenGL2-9.2-gd.lib
vtkRenderingVtkJS-9.2-gd.lib
vtksqlite-9.2-gd.lib
vtksys-9.2-gd.lib
vtkTestingRendering-9.2-gd.lib
vtktheora-9.2-gd.lib
vtktiff-9.2-gd.lib
vtkverdict-9.2-gd.lib
vtkViewsContext2D-9.2-gd.lib
vtkViewsCore-9.2-gd.lib
vtkViewsInfovis-9.2-gd.lib
vtkWrappingTools-9.2-gd.lib
vtkzlib-9.2-gd.lib
pcl_commond.lib
pcl_featuresd.lib
pcl_filtersd.lib
pcl_iod.lib
pcl_io_plyd.lib
pcl_kdtreed.lib
pcl_keypointsd.lib
pcl_mld.lib
pcl_octreed.lib
pcl_outofcored.lib
pcl_peopled.lib
pcl_recognitiond.lib
pcl_registrationd.lib
pcl_sample_consensusd.lib
pcl_searchd.lib
pcl_segmentationd.lib
pcl_stereod.lib
pcl_surfaced.lib
pcl_trackingd.lib
pcl_visualizationd.lib

四、测试

运行PCL官方示例，编写pcl格式数据，源代码如下：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

int
main()
{
    pcl::PointCloud<pcl::PointXYZ> cloud;

    // Fill in the cloud data
    cloud.width = 5;
    cloud.height = 1;
    cloud.is_dense = false;
    cloud.resize(cloud.width * cloud.height);

    for (auto& point : cloud)
    {
        point.x = 1024 * rand() / (RAND_MAX + 1.0f);
        point.y = 1024 * rand() / (RAND_MAX + 1.0f);
        point.z = 1024 * rand() / (RAND_MAX + 1.0f);
    }

    pcl::io::savePCDFileASCII("test_pcd.pcd", cloud);
    std::cerr << "Saved " << cloud.size() << " data points to test_pcd.pcd." << std::endl;

    for (const auto& point : cloud)
        std::cerr << "    " << point.x << " " << point.y << " " << point.z << std::endl;

    return (0);
}

运行结果：
在这里插入图片描述

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