功能1：单帧点云的加载与可视化；
功能2：多帧点云的加载与可视化；（未实现，可提供源码）
功能3：点云滤波，包括但不限于直通滤波、体素栅格滤波、半径滤波等等；
功能4：地面点检测，包括但不限于Lego-LOAM中的直接法、hdl-graph-slam中的条件筛选的地面检测方法等等；（未实现，可提供源码）
功能5：点云聚类，包括但不限于欧式聚类、区域增长分割、最小分割等等；
功能6：点云聚类框的计算；（未实现）
功能7：计算点云特征描述子，包括但不限于VFH、FPFH等等；
功能8：基于点云的数据训练与物体识别
总的来说，以上各个模块的集成可以用于室内外低速无人车的环境感知、也可以用于工业机器人的物体抓取等项目开发工程中的测试调参。
这里先贴一个简易版本的系统界面。

废话就不多说了，先搭建好环境吧

1.软件准备与安装

1.1 必备软件

（1）QT
qt-opensource-windows-x86-msvc2013_64-5.7.0.exe
qt-vs-addin-1.2.5.exe
（2）VS2013
Visual Studio 2013.rar
（3）PCL 1.8.0

（4）QVTK插件
QVTKWidgetPlugin.dll
QVTKWidgetPlugin.lib
（5）属性表（属性表需要根据实际安装位置修改）
PCLDebug.props
PCLRelease.props

1.2 软件安装

1.2.1 VS2013安装

下载并解压Visual Studio2013打开安装包，点击vs_ultimate.exe以管理员身份运行即可。随后注册产品，添加附件中的激活码即可用。

1.2.2 Qt安装

（1）安装QT：D:\Qt
（2）安装QtVSAddin：D:\Qt5VSAddin
打开vs会发现工具栏多了QT5，选择QT5->qt options->add，path选择安装路径D:\Qt\Qt5.7.0\5.7\msvc2013_64
（3）将下载好的QVTKWidgetPlugin和QVTKWidgetPlugin.dll拷贝在D:\Qt\Qt5.7.0\5.7\msvc2013_64\plugins\designer下

1.2.3 PCL 1.8.0安装

（1）安装PCL-1.8.0-AllInOne-msvc2013-win64.exe：安装的时候注意选上“Add PCL to the system PATH for all users”，这样安装程序会自动在系统环境变量中添加"PCL_ROOT"项
我的安装路径是D:\PCL 1.8.0
在安装过程中会弹出openni2的安装路径，可以随意选取，但建议安装在D:\PCL 1.8.0\3rdParty\OpenNI2

（2）拷贝：下载好的PCL-1.8.0-AllInOne-msvc2013-win64-pdb，pdb文件拷贝到PCL ROOT下的bin文件夹中

（3）编写属性表：属性表分为Debug（x64）和Release（x64），我为了方便把事例属性表放在D:\PCL 1.8.0\中，通过配置属性表，可以完成通用属性的配置，当我再重建一个工程的时候，直接添加现有的属性表即可
（4）导入项目：打开已有项目->PCLlab_1->PCLlab_1.sln。
（5）预处理器：Solution Explorer(解决方案管理器)中右键项目->Properties(属性)-> Configuration Properties(配置管理器)->C/C+±>Preprocessor(预处理器)->Preprocessor Definitions(预处理定义) 中添加如下两项：
_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS

（6）配置属性：由于本机是win 10 64bit，因此我选择的是64bit的安装包。
安装完成后，在PCL 1.8.0中
其中3rdParty包含：

（6.1）右击“我的电脑”->"属性“->"高级系统设置”->“高级”，添加环境变量，包括第三方库
新增变量：PCL_ROOT D:\PCL 1.8.0
在Path路径下新增：
在VS2013中配置PCL 1.8.0，右击工程，属性->配置属性->VC++目录
添加包含目录：

添加库目录：

（6.3）属性->配置属性->链接器->输入（Release模式）

pcl_common_release.lib
pcl_features_release.lib
pcl_filters_release.lib
pcl_io_release.lib
pcl_io_ply_release.lib
pcl_kdtree_release.lib
pcl_keypoints_release.lib
pcl_ml_release.lib
pcl_octree_release.lib
pcl_outofcore_release.lib
pcl_people_release.lib
pcl_recognition_release.lib
pcl_registration_release.lib
pcl_sample_consensus_release.lib
pcl_search_release.lib
pcl_segmentation_release.lib
pcl_stereo_release.lib
pcl_surface_release.lib
pcl_tracking_release.lib
pcl_visualization_release.lib
libboost_atomic-vc120-mt-1_59.lib
libboost_chrono-vc120-mt-1_59.lib
libboost_container-vc120-mt-1_59.lib
libboost_context-vc120-mt-1_59.lib
libboost_coroutine-vc120-mt-1_59.lib
libboost_date_time-vc120-mt-1_59.lib
libboost_exception-vc120-mt-1_59.lib
libboost_filesystem-vc120-mt-1_59.lib
libboost_graph-vc120-mt-1_59.lib
libboost_iostreams-vc120-mt-1_59.lib
libboost_locale-vc120-mt-1_59.lib
libboost_log-vc120-mt-1_59.lib
libboost_log_setup-vc120-mt-1_59.lib
libboost_math_c99-vc120-mt-1_59.lib
libboost_math_c99f-vc120-mt-1_59.lib
libboost_math_c99l-vc120-mt-1_59.lib
libboost_math_tr1-vc120-mt-1_59.lib
libboost_math_tr1f-vc120-mt-1_59.lib
libboost_math_tr1l-vc120-mt-1_59.lib
libboost_mpi-vc120-mt-1_59.lib
libboost_prg_exec_monitor-vc120-mt-1_59.lib
libboost_program_options-vc120-mt-1_59.lib
libboost_random-vc120-mt-1_59.lib
libboost_regex-vc120-mt-1_59.lib
libboost_serialization-vc120-mt-1_59.lib
libboost_signals-vc120-mt-1_59.lib
libboost_system-vc120-mt-1_59.lib
libboost_test_exec_monitor-vc120-mt-1_59.lib
libboost_thread-vc120-mt-1_59.lib
libboost_timer-vc120-mt-1_59.lib
libboost_unit_test_framework-vc120-mt-1_59.lib
libboost_wave-vc120-mt-1_59.lib
libboost_wserialization-vc120-mt-1_59.lib
vtkalglib-7.0.lib
vtkChartsCore-7.0.lib
vtkCommonCore-7.0.lib
vtkCommonColor-7.0.lib
vtkCommonComputationalGeometry-7.0.lib
vtkCommonDataModel-7.0.lib
vtkCommonExecutionModel-7.0.lib
vtkCommonMath-7.0.lib
vtkCommonMisc-7.0.lib
vtkCommonSystem-7.0.lib
vtkCommonTransforms-7.0.lib
vtkDICOMParser-7.0.lib
vtkDomainsChemistry-7.0.lib
vtkexoIIc-7.0.lib
vtkexpat-7.0.lib
vtkFiltersAMR-7.0.lib
vtkFiltersCore-7.0.lib
vtkFiltersExtraction-7.0.lib
vtkFiltersFlowPaths-7.0.lib
vtkFiltersGeneral-7.0.lib
vtkFiltersGeneric-7.0.lib
vtkFiltersGeometry-7.0.lib
vtkFiltersHybrid-7.0.lib
vtkFiltersHyperTree-7.0.lib
vtkFiltersImaging-7.0.lib
vtkFiltersModeling-7.0.lib
vtkFiltersParallel-7.0.lib
vtkFiltersParallelImaging-7.0.lib
vtkFiltersProgrammable-7.0.lib
vtkFiltersSelection-7.0.lib
vtkFiltersSMP-7.0.lib
vtkFiltersSources-7.0.lib
vtkFiltersStatistics-7.0.lib
vtkFiltersTexture-7.0.lib
vtkFiltersVerdict-7.0.lib
vtkfreetype-7.0.lib
vtkGeovisCore-7.0.lib
vtkhdf5-7.0.lib
vtkhdf5_hl-7.0.lib
vtkImagingColor-7.0.lib
vtkImagingCore-7.0.lib
vtkImagingFourier-7.0.lib
vtkImagingGeneral-7.0.lib
vtkImagingHybrid-7.0.lib
vtkImagingMath-7.0.lib
vtkImagingMorphological-7.0.lib
vtkImagingSources-7.0.lib
vtkImagingStatistics-7.0.lib
vtkImagingStencil-7.0.lib
vtkInfovisCore-7.0.lib
vtkInfovisLayout-7.0.lib
vtkInteractionImage-7.0.lib
vtkInteractionStyle-7.0.lib
vtkInteractionWidgets-7.0.lib
vtkIOAMR-7.0.lib
vtkIOCore-7.0.lib
vtkIOEnSight-7.0.lib
vtkIOExodus-7.0.lib
vtkIOExport-7.0.lib
vtkIOGeometry-7.0.lib
vtkIOImage-7.0.lib
vtkIOImport-7.0.lib
vtkIOInfovis-7.0.lib
vtkIOLegacy-7.0.lib
vtkIOLSDyna-7.0.lib
vtkIOMINC-7.0.lib
vtkIOMovie-7.0.lib
vtkIONetCDF-7.0.lib
vtkIOParallel-7.0.lib
vtkIOParallelXML-7.0.lib
vtkIOPLY-7.0.lib
vtkIOSQL-7.0.lib
vtkIOVideo-7.0.lib
vtkIOXML-7.0.lib
vtkIOXMLParser-7.0.lib
vtkjpeg-7.0.lib
vtkjsoncpp-7.0.lib
vtklibxml2-7.0.lib
vtkmetaio-7.0.lib
vtkNetCDF-7.0.lib
vtkNetCDF_cxx-7.0.lib
vtkoggtheora-7.0.lib
vtkParallelCore-7.0.lib
vtkpng-7.0.lib
vtkproj4-7.0.lib
vtkRenderingAnnotation-7.0.lib
vtkRenderingContext2D-7.0.lib
vtkRenderingContextOpenGL2-7.0.lib
vtkRenderingCore-7.0.lib
vtkRenderingFreeType-7.0.lib
vtkRenderingImage-7.0.lib
vtkRenderingLabel-7.0.lib
vtkRenderingLOD-7.0.lib
vtkRenderingOpenGL2-7.0.lib
vtkRenderingVolume-7.0.lib
vtkRenderingVolumeOpenGL2-7.0.lib
vtksqlite-7.0.lib
vtksys-7.0.lib
vtktiff-7.0.lib
vtkverdict-7.0.lib
vtkViewsContext2D-7.0.lib
vtkViewsCore-7.0.lib
vtkViewsInfovis-7.0.lib
vtkzlib-7.0.lib
vtkGUISupportQt-7.0.lib
vtkRenderingQt-7.0.lib
vtkViewsQt-7.0.lib

如果要用debug模式，则需要添加一下依赖：

pcl_apps_debug.lib
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_simulation_debug.lib
pcl_stereo_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
pcl_visualization_debug.lib
libboost_atomic-vc120-mt-gd-1_59.lib
libboost_chrono-vc120-mt-gd-1_59.lib
libboost_container-vc120-mt-gd-1_59.lib
libboost_context-vc120-mt-gd-1_59.lib
libboost_coroutine-vc120-mt-gd-1_59.lib
libboost_date_time-vc120-mt-gd-1_59.lib
libboost_exception-vc120-mt-gd-1_59.lib
libboost_filesystem-vc120-mt-gd-1_59.lib
libboost_graph-vc120-mt-gd-1_59.lib
libboost_iostreams-vc120-mt-gd-1_59.lib
libboost_locale-vc120-mt-gd-1_59.lib
libboost_log-vc120-mt-gd-1_59.lib
libboost_log_setup-vc120-mt-gd-1_59.lib
libboost_math_c99-vc120-mt-gd-1_59.lib
libboost_math_c99f-vc120-mt-gd-1_59.lib
libboost_math_c99l-vc120-mt-gd-1_59.lib
libboost_math_tr1-vc120-mt-gd-1_59.lib
libboost_math_tr1f-vc120-mt-gd-1_59.lib
libboost_math_tr1l-vc120-mt-gd-1_59.lib
libboost_mpi-vc120-mt-gd-1_59.lib
libboost_prg_exec_monitor-vc120-mt-gd-1_59.lib
libboost_program_options-vc120-mt-gd-1_59.lib
libboost_random-vc120-mt-gd-1_59.lib
libboost_regex-vc120-mt-gd-1_59.lib
libboost_serialization-vc120-mt-gd-1_59.lib
libboost_signals-vc120-mt-gd-1_59.lib
libboost_system-vc120-mt-gd-1_59.lib
libboost_test_exec_monitor-vc120-mt-gd-1_59.lib
libboost_thread-vc120-mt-gd-1_59.lib
libboost_timer-vc120-mt-gd-1_59.lib
libboost_unit_test_framework-vc120-mt-gd-1_59.lib
libboost_wave-vc120-mt-gd-1_59.lib
libboost_wserialization-vc120-mt-gd-1_59.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
flann-gd.lib
OpenNI2.lib
qhullstatic_r-gd.lib
qhull_p-gd.lib
qhull_r-gd.lib
qhullcpp-gd.lib
qhull-gd.lib
qhullstatic-gd.libvtkalglib-7.0-gd.libvtkChartsCore-7.0-gd.libvtkCommonColor-7.0-gd.libvtkCommonComputationalGeometry-7.0-gd.lib
vtkCommonCore-7.0-gd.lib
vtkCommonDataModel-7.0-gd.libvtkCommonExecutionModel-7.0-gd.libvtkCommonMath-7.0-gd.libvtkCommonMisc-7.0-gd.libvtkCommonSystem-7.0-gd.libvtkCommonTransforms-7.0-gd.libvtkDICOMParser-7.0-gd.libvtkDomainsChemistry-7.0-gd.libvtkDomainsChemistryOpenGL2-7.0-gd.libvtkexoIIc-7.0-gd.libvtkexpat-7.0-gd.libvtkFiltersAMR-7.0-gd.lib
vtkFiltersCore-7.0-gd.libvtkFiltersExtraction-7.0-gd.libvtkFiltersFlowPaths-7.0-gd.lib
vtkFiltersGeneral-7.0-gd.libvtkFiltersGeneric-7.0-gd.libvtkFiltersGeometry-7.0-gd.libvtkFiltersHybrid-7.0-gd.libvtkFiltersHyperTree-7.0-gd.libvtkFiltersImaging-7.0-gd.libvtkFiltersModeling-7.0-gd.libvtkFiltersParallel-7.0-gd.libvtkFiltersParallelImaging-7.0-gd.libvtkFiltersProgrammable-7.0-gd.libvtkFiltersSelection-7.0-gd.libvtkFiltersSMP-7.0-gd.libvtkFiltersSources-7.0-gd.libvtkFiltersStatistics-7.0-gd.libvtkFiltersTexture-7.0-gd.libvtkFiltersVerdict-7.0-gd.libvtkfreetype-7.0-gd.libvtkGeovisCore-7.0-gd.libvtkglew-7.0-gd.libvtkGUISupportQt-7.0-gd.libvtkGUISupportQtSQL-7.0-gd.libvtkhdf5-7.0-gd.libvtkhdf5_hl-7.0-gd.libvtkImagingColor-7.0-gd.libvtkImagingCore-7.0-gd.libvtkImagingFourier-7.0-gd.libvtkImagingGeneral-7.0-gd.libvtkImagingHybrid-7.0-gd.libvtkImagingMath-7.0-gd.libvtkImagingMorphological-7.0-gd.libvtkImagingSources-7.0-gd.libvtkImagingStatistics-7.0-gd.libvtkImagingStencil-7.0-gd.libvtkInfovisCore-7.0-gd.libvtkInfovisLayout-7.0-gd.libvtkInteractionImage-7.0-gd.libvtkInteractionStyle-7.0-gd.lib
vtkInteractionWidgets-7.0-gd.libvtkIOAMR-7.0-gd.libvtkIOCore-7.0-gd.libvtkIOEnSight-7.0-gd.libvtkIOExodus-7.0-gd.libvtkIOExport-7.0-gd.libvtkIOGeometry-7.0-gd.libvtkIOImage-7.0-gd.libvtkIOImport-7.0-gd.libvtkIOInfovis-7.0-gd.libvtkIOLegacy-7.0-gd.libvtkIOLSDyna-7.0-gd.libvtkIOMINC-7.0-gd.libvtkIOMovie-7.0-gd.libvtkIONetCDF-7.0-gd.libvtkIOParallel-7.0-gd.lib
vtkIOParallelXML-7.0-gd.lib
vtkIOPLY-7.0-gd.lib
vtkIOSQL-7.0-gd.lib
vtkIOVideo-7.0-gd.lib
vtkIOXML-7.0-gd.lib
vtkIOXMLParser-7.0-gd.lib
vtkjpeg-7.0-gd.lib
vtkjsoncpp-7.0-gd.lib
vtklibxml2-7.0-gd.lib
vtkmetaio-7.0-gd.lib
vtkNetCDF-7.0-gd.lib
vtkNetCDF_cxx-7.0-gd.lib
vtkoggtheora-7.0-gd.lib
vtkParallelCore-7.0-gd.lib
vtkpng-7.0-gd.libvtkproj4-7.0-gd.libvtkRenderingAnnotation-7.0-gd.libvtkRenderingContext2D-7.0-gd.libvtkRenderingContextOpenGL2-7.0-gd.lib
vtkRenderingCore-7.0-gd.libvtkRenderingFreeType-7.0-gd.libvtkRenderingImage-7.0-gd.libvtkRenderingLabel-7.0-gd.libvtkRenderingLOD-7.0-gd.libvtkRenderingOpenGL2-7.0-gd.libvtkRenderingQt-7.0-gd.libvtkRenderingVolume-7.0-gd.libvtkRenderingVolumeOpenGL2-7.0-gd.lib
vtksqlite-7.0-gd.libvtksys-7.0-gd.libvtktiff-7.0-gd.libvtkverdict-7.0-gd.libvtkViewsContext2D-7.0-gd.libvtkViewsCore-7.0-gd.libvtkViewsInfovis-7.0-gd.libvtkViewsQt-7.0-gd.libvtkzlib-7.0-gd.lib

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