注意：
1.以下第一部分PCL安裝使用教程可供參考，第二部分在VS中使用Qt親測有效；第三第四部分有問題，希望通過這個教程了解如何使用Qt可視化點雲的可能要失望了，如果你實現了還請不吝賜教。
2.目前我自己對於既使用Qt設計界面又能使用PCL庫的做法是在VS中使用PCL庫和Qt庫，如果想可視化點雲可能需要自己定義可視化類和控件了，最后我做到的話再補個教程。
3.基於VS中使用Qt庫和PCL庫生成的文件想要發布也跟一般的Qt程序相似，使用Qt自帶的Qt命令行在exe文件目錄下執行windeployqt *.exe命令即可配置好所需dll；也可以自己運行exe看缺什么dll並找到復制到當前文件夾下也一樣。如果想進一步做成安裝包，可使用setupfactory打包你的exe生成安裝包，這個以后我熟悉了也加個教程。
1.PCL安裝及在VS2013中使用PCL
（1）下載PCL，下載地址鏈接:https://pan.baidu.com/s/123QD1iKa5tfLPTwquP3j7Q 密碼:v5q6。點擊PCL-1.8.0-AllInOne-msvc2015-win32.exe安裝即可。
（2）環境變量的配置。添加環境變量名稱為：
PCL_ROOT,路徑設為PCL的安裝根目錄。
path環境變量添加 %PCL_ROOT%\bin;%PCL_ROOT%\3rdParty\FLANN\bin;%PCL_ROOT%\3rdParty\Qhull\bin;%PCL_ROOT%\3rdParty\VTK\bin;%PCL_ROOT%\3rdParty\OpenNI2\Tools。
（3）項目屬性配置。原本可以在項目-屬性中設置屬性，但是每一次都要設置未免太麻煩，所以這里打開安裝包附帶的PCLdebug.props和PCLrelease.props文件直接導入設置（如果沒有的話新建項目屬性表也可），打開方法為打開屬性管理器，右鍵對應的解決方案平台添加現有屬性表，然后Debug|Win32添加PCLdebug.props，Release|Win32添加PCLrelease.props即可。如下
這里添加的屬性表並沒有進行設置，所以其實自己新建屬性表也是一樣的，之后我們要雙擊添加的debug，release屬性表分別進行設置最后進行保存即可在下一次直接添加這個屬性表就可以，不必多次設置。雙擊屬性表后在屬性設置中點擊配置屬性-VC++目錄，在包含目錄與庫目錄中分別添加如下目錄，
在屬性表-鏈接器-輸入中的附加依賴項添加如下依賴項，如果為其他版本的只需把對應文件夾里的lib文件添加到依賴項即可，為快速導出這些lib文件名，可使用批處理命令導出，參考https://www.cnblogs.com/blog-vincent-0x1F7/p/9646358.html。
//debug模式下添加的附加依賴項： 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-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 vtkalglib-7.0-gd.lib vtkChartsCore-7.0-gd.lib vtkCommonCore-7.0-gd.lib vtkCommonColor-7.0-gd.lib vtkCommonComputationalGeometry-7.0-gd.lib vtkCommonDataModel-7.0-gd.lib vtkCommonExecutionModel-7.0-gd.lib vtkCommonMath-7.0-gd.lib vtkCommonMisc-7.0-gd.lib vtkCommonSystem-7.0-gd.lib vtkCommonTransforms-7.0-gd.lib vtkDICOMParser-7.0-gd.lib vtkDomainsChemistry-7.0-gd.lib vtkexoIIc-7.0-gd.lib vtkexpat-7.0-gd.lib vtkFiltersAMR-7.0-gd.lib vtkFiltersCore-7.0-gd.lib vtkFiltersExtraction-7.0-gd.lib vtkFiltersFlowPaths-7.0-gd.lib vtkFiltersGeneral-7.0-gd.lib vtkFiltersGeneric-7.0-gd.lib vtkFiltersGeometry-7.0-gd.lib vtkFiltersHybrid-7.0-gd.lib vtkFiltersHyperTree-7.0-gd.lib vtkFiltersImaging-7.0-gd.lib vtkFiltersModeling-7.0-gd.lib vtkFiltersParallel-7.0-gd.lib vtkFiltersParallelImaging-7.0-gd.lib vtkFiltersProgrammable-7.0-gd.lib vtkFiltersSelection-7.0-gd.lib vtkFiltersSMP-7.0-gd.lib vtkFiltersSources-7.0-gd.lib vtkFiltersStatistics-7.0-gd.lib vtkFiltersTexture-7.0-gd.lib vtkFiltersVerdict-7.0-gd.lib vtkfreetype-7.0-gd.lib vtkGeovisCore-7.0-gd.lib vtkhdf5-7.0-gd.lib vtkhdf5_hl-7.0-gd.lib vtkImagingColor-7.0-gd.lib vtkImagingCore-7.0-gd.lib vtkImagingFourier-7.0-gd.lib vtkImagingGeneral-7.0-gd.lib vtkImagingHybrid-7.0-gd.lib vtkImagingMath-7.0-gd.lib vtkImagingMorphological-7.0-gd.lib vtkImagingSources-7.0-gd.lib vtkImagingStatistics-7.0-gd.lib vtkImagingStencil-7.0-gd.lib vtkInfovisCore-7.0-gd.lib vtkInfovisLayout-7.0-gd.lib vtkInteractionImage-7.0-gd.lib vtkInteractionStyle-7.0-gd.lib vtkInteractionWidgets-7.0-gd.lib vtkIOAMR-7.0-gd.lib vtkIOCore-7.0-gd.lib vtkIOEnSight-7.0-gd.lib vtkIOExodus-7.0-gd.lib vtkIOExport-7.0-gd.lib vtkIOGeometry-7.0-gd.lib vtkIOImage-7.0-gd.lib vtkIOImport-7.0-gd.lib vtkIOInfovis-7.0-gd.lib vtkIOLegacy-7.0-gd.lib vtkIOLSDyna-7.0-gd.lib vtkIOMINC-7.0-gd.lib vtkIOMovie-7.0-gd.lib vtkIONetCDF-7.0-gd.lib vtkIOParallel-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.lib vtkproj4-7.0-gd.lib vtkRenderingAnnotation-7.0-gd.lib vtkRenderingContext2D-7.0-gd.lib vtkRenderingContextOpenGL2-7.0-gd.lib vtkRenderingCore-7.0-gd.lib vtkRenderingFreeType-7.0-gd.lib vtkRenderingImage-7.0-gd.lib vtkRenderingLabel-7.0-gd.lib vtkRenderingLOD-7.0-gd.lib vtkRenderingOpenGL2-7.0-gd.lib vtkRenderingVolume-7.0-gd.lib vtkRenderingVolumeOpenGL2-7.0-gd.lib vtksqlite-7.0-gd.lib vtksys-7.0-gd.lib vtktiff-7.0-gd.lib vtkverdict-7.0-gd.lib vtkViewsContext2D-7.0-gd.lib vtkViewsCore-7.0-gd.lib vtkViewsInfovis-7.0-gd.lib vtkzlib-7.0-gd.lib vtkGUISupportQt-7.0-gd.lib vtkRenderingQt-7.0-gd.lib vtkViewsQt-7.0-gd.lib flann_cpp_s-gd.lib qhullstatic-gd.lib OpenNI2.lib //release模式下添加的附加依賴項: 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 flann_cpp_s.lib qhullstatic.lib OpenNI2.lib
編寫測試代碼，新建一個c++的win32控制台程序，更改代碼如下：
#include "stdafx.h" #include <pcl/visualization/cloud_viewer.h> #include <iostream> #include <pcl/io/io.h> #include <pcl/io/pcd_io.h> int user_data; void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) { viewer.setBackgroundColor(1.0, 0.5, 1.0); pcl::PointXYZ o; o.x = 1.0; o.y = 0; o.z = 0; viewer.addSphere(o, 0.25, "sphere", 0); std::cout << "i only run once" << std::endl; } void viewerPsycho(pcl::visualization::PCLVisualizer& viewer) { static unsigned count = 0; std::stringstream ss; ss << "Once per viewer loop: " << count++; viewer.removeShape("text", 0); viewer.addText(ss.str(), 200, 300, "text", 0); //FIXME: possible race condition here: user_data++; } int _tmain(int argc, _TCHAR* argv[]) { pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>); pcl::io::loadPCDFile("example.pcd的位置", *cloud); pcl::visualization::CloudViewer viewer("Cloud Viewer"); //blocks until the cloud is actually rendered viewer.showCloud(cloud); //use the following functions to get access to the underlying more advanced/powerful //PCLVisualizer //This will only get called once viewer.runOnVisualizationThreadOnce(viewerOneOff); //This will get called once per visualization iteration viewer.runOnVisualizationThread(viewerPsycho); while (!viewer.wasStopped()) { //you can also do cool processing here //FIXME: Note that this is running in a separate thread from viewerPsycho //and you should guard against race conditions yourself... user_data++; } return 0; }
這時候運行一個測試程序很有可能會拋出error c4996錯誤，只需在項目-屬性-C/C++-預處理器-預處理器定義中添加_SCL_SECURE_NO_WARNINGS就可以。
完成以上設置后別忘了保存屬性表，右擊屬性表保存即可。經過以上步驟，運氣好的話，PCL庫就可以用了，運氣不好只能出啥問題找度娘了。
2.Vs2013與Qt協同
在工具-拓展和更新-聯機中搜索Qt可以找到Qt visual studio Tools，點擊下載，然后安裝即可。
安裝完畢之后在界面菜單欄上會多一個Qt VS Tools菜單，點擊Qt Options在Qt version中添加一項名稱隨意，路徑設為Qt的安裝目錄下相應目錄，即指定了Qt版本，這時候可以使用Qt了。
測試一下，現在在文件-新建-項目向導中已經有Qt的內容，可以選擇Qt GUI Application，就可以開發帶有GUI界面的Qt程序。
現在可以在VS中寫代碼，雙擊.ui文件可打開Qt Designer設計界面。
3.編譯vtk
參考https://blog.csdn.net/jepco1/article/details/80628026。原地址講解會更詳細。
使用CMAKE配置VTK for Qt的編譯環境，cmake版本為3.11.3，下載地址為https://cmake.org/download/。VTK使用版本為8.1.1，下載地址為https://www.vtk.org/download/。
下載VTK-8.1.1.zip和VTKData-8.1.1.zip於同一目錄，解壓到當前目錄，二者會合並成一個文件夾，即編譯源碼所在目錄。
打開cmake，選擇源碼目錄和構建目錄（構建目錄自己建一個），點擊configure。
選擇visual studio 12 2013 win 32（對應版本的編譯器，不然在Qt中沒法使用）。
選擇BUILD_EXAMPLES，BUUILD_SHARED_LIBS，BUILD_TESTING。
CMAKE_INSTALL_PREFIX選擇VTK的安裝目錄。
選擇VTK_Group_Qt。點擊configure。
這里一般都會自動設置好。Qt5_DIR選擇路徑為F:/Qt/5.9.4/msvc2015_64/lib/cmake/Qt5。點擊configure，configure done后點擊generate。
Generate done后點擊Open Project即可在VS2015中打開項目。選擇ALL_BUILD右鍵生成，生成完畢后改為release再生成一次release版本。這個過程會比較長。
至此編譯完成，將build/bin/release下的QVTKWidget.dll復制到Qt安裝目錄的plugins/designer下，這樣打開Qt Designer就可以看到工具箱里有QVTKWidget控件了（在Qt Creator中是看不到的，在Qt Creator中使用QVTKWidget可以使用Widget代替，然后提升為QVTKWidget）。
4.在vs2013下使用vtk，Qt顯示點雲
目前無法使用QVTKWidget，在VS2015中可以使用Qt Designer拖動QVTKWidget設計界面，但是運行時會出現錯誤，debug模式下調試出現error LNK2019: 無法解析的外部符號錯誤，看起來貌似是加載dll文件時無法識別QVTKWidget中的函數；release模式下則報錯fatal error C1083: 無法打開包括文件: “QVTKWidget.h，看起來是不能找到頭文件，即使是在項目屬性的VC++目錄的包含目錄中添加相應包含目錄也不成，添加包含目錄后debug與release模式下均顯示error LNK2019。
而Qt下也不可使用QVTKWidget，Qt Creator中工具箱中沒有QVTKWidget，雖可通過提升的方式使用QVTKWidget，但是運行的時候同樣遇到問題。debug與release模式下都出現LNK 2019無法解析的外部符號問題，看起來貌似與visual studio中的報錯是一樣的。
目前尚不知為何，有待進一步解決。