1.准備工作
我所用的開發環境是win10下的qt5.11.2配置了vs2017的編譯器，根據自己所用的VS的版本去官網下載對應版本的pcl庫，如下
PCL-1.8.1-AllInOne-msvc2017-win64.exe
pcl-1.8.1-pdb-msvc2017-win64.zip
另外還需要下載對應版本的vtk依賴庫
vtk-v8.0.0.zip
注：上面的PCL-1.8.1-AllInOne-msvc2017-win64.exe，安裝后，pcl庫以及它的第三方依賴庫（boost 、Eigen、FLANN、OpenNI2、Qhull、 VTK）都會安裝完成，這里面的vtk不適合Qt，
所以要重新在自己的編譯環境下進行編譯。
2.pcl庫的安裝
注：網上關於pcl庫的安裝有很多，接下來是我進行安裝時的幾個注意的地方
（1）安裝到這一步時，選擇第二個選項。
（2）注意此處的空格，要刪掉空格，否則qt無法檢測有空格的文件夾（路徑可更改，不一定要安裝在c盤中）
我的是安裝在D盤下。
（3）OpenNI2的安裝
pcl安裝過程中會彈框提示安裝OpenNI2，要將OpenNI2安裝到pcl1.8.1的3rdParty目錄下
注：此處安裝的時候，可能會提示OpenNI2安裝路徑太長，這個不需要理會。
（4）最后一步安裝完成，為pcl庫以及依賴庫添加環境變量（最好添加后，重啟電腦）
pcl FLANN Qhull VTK OpenNI2 這五個庫需要添加環境變量（vtk可先不添加，后面要重新編譯）
3.VTK的編譯（cmake）
前面我們安裝的pcl庫中包含了預編譯的VTK庫，但是預編譯的VTK包並沒有與qt聯合編譯生成QVTKWidget控件（該控件用來在qt上進行顯示點雲），所以需要單獨編譯vtk。
注：單獨下載的版本必須是與pcl對應一樣的版本（vtk-8.0）
（1）解壓vtk包到3rdParty目錄下，在vtk-8.0目錄下新建build文件夾，將路徑填入到cmake下，點擊Add Entry，添加Name為CMAKE_DEBUG_POSTFIX，Type為STRING，Value為-gd,點擊Ok。這是為了將最后生成的debug和release版本的lib區別開。
（2）點擊Configure，選擇VisualStudio 15 2017 Win64，點擊Finish，等待配置完成。
配置列表設置
BUILD選項：
BUILD_EXAMPLES，BUILD_SHADRED_LIBS，BUILD_TESTING
一般情況下把只需要勾選BUILD_SHADRED_LIBS，看個人需要進行選擇，我只勾選了BUILD_SHADRED_LIBS。
VTK安裝目錄
CMAKE_INSTALL_POSTFIX
注：將上面pcl預編譯的vtk文件夾清空，將CMAKE_INSTALL_POSTFIX 設置為被清空的vtk文件夾路徑
最后勾選VTK_Group_Qt
（3）單擊Configure，等待配置結束。
經過一段時間后，又會多出來一些配置選項，然后按照下面的步驟配置。
Qt5_DIR修改為E:\Qt\Qt5.11.2\5.11.2\msvc2017_64\lib\cmake\Qt5。
VKT_QT_VERSION設置為5。（版本默認的是4，如果不修改會提示版本不對應）
再次點擊Configure繼續
（4）配置成功后，出現
Configuring done提示。點擊
Generate生成工程。出現
Generating done后說明生成成功，就可以點擊
Open Project，
VS2017將會打開
VTK.sln
首先在VS2017中解決方案配置為Debug,在解決方案管理器里，找到ALL_BUILD，右鍵，點擊生成。等待VS編譯完成。完成后，找到INSTALL，點擊鼠標右鍵，點擊生成
切換解決方案配置為Release，在解決方案管理器里，找到ALL_BUILD，右鍵，點擊生成。等待VS編譯完成。完成后，找到INSTALL，點擊鼠標右鍵，點擊生成。
上述步驟完成后，在CMAKE_INSTALL_PREFIX設置的路徑下，即為編譯好的文件。
（5）重新為vtk添加環境變量即可
4.將lib庫路徑導入.pro文件（qt添加外部庫）
因為lib文件較多，最好編一個小程序進行讀取。
下面是我添加的路徑，可以參考一下。
INCLUDEPATH += E:\qt_workplace\qt_project\pcl_tool\PCL1.8.1/include/pcl-1.8\
INCLUDEPATH += E:\qt_workplace\qt_project\pcl_tool\PCL1.8.1/include/pcl-1.8/pcl\
INCLUDEPATH += E:\qt_workplace\qt_project\pcl_tool\PCL1.8.1/3rdParty/Boost/include/boost-1_64\
INCLUDEPATH += E:\qt_workplace\qt_project\pcl_tool\PCL1.8.1/3rdParty/Eigen/eigen3\
INCLUDEPATH += E:\qt_workplace\qt_project\pcl_tool\PCL1.8.1/3rdParty/FLANN/include\
INCLUDEPATH += E:\qt_workplace\qt_project\pcl_tool\PCL1.8.1/3rdParty/FLANN/include/flann\
INCLUDEPATH += E:\qt_workplace\qt_project\pcl_tool\PCL1.8.1/3rdParty/OpenNI2/Include\
INCLUDEPATH += E:\qt_workplace\qt_project\pcl_tool\PCL1.8.1/3rdParty/Qhull/include\
INCLUDEPATH += E:\qt_workplace\qt_project\pcl_tool\PCL1.8.1/3rdParty/VTK/include/vtk-8.0\
CONFIG(debug,debug|release){
LIBS += -LE:/qt_workplace/qt_project/pcl_tool/PCL1.8.1/lib\
-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_stereo_debug\
-lpcl_surface_debug\
-lpcl_tracking_debug\
-lpcl_visualization_debug\
LIBS += -LE:/qt_workplace/qt_project/pcl_tool/PCL1.8.1/3rdParty/Boost/lib\
-llibboost_atomic-vc141-mt-gd-1_64\
-llibboost_bzip2-vc141-mt-gd-1_64\
-llibboost_chrono-vc141-mt-gd-1_64\
-llibboost_container-vc141-mt-gd-1_64\
-llibboost_context-vc141-mt-gd-1_64\
-llibboost_coroutine-vc141-mt-gd-1_64\
-llibboost_date_time-vc141-mt-gd-1_64\
-llibboost_exception-vc141-mt-gd-1_64\
-llibboost_fiber-vc141-mt-gd-1_64\
-llibboost_filesystem-vc141-mt-gd-1_64\
-llibboost_graph-vc141-mt-gd-1_64\
-llibboost_graph_parallel-vc141-mt-gd-1_64\
-llibboost_iostreams-vc141-mt-gd-1_64\
-llibboost_locale-vc141-mt-gd-1_64\
-llibboost_log-vc141-mt-gd-1_64\
-llibboost_log_setup-vc141-mt-gd-1_64\
-llibboost_math_c99-vc141-mt-gd-1_64\
-llibboost_math_c99f-vc141-mt-gd-1_64\
-llibboost_math_c99l-vc141-mt-gd-1_64\
-llibboost_math_tr1-vc141-mt-gd-1_64\
-llibboost_math_tr1f-vc141-mt-gd-1_64\
-llibboost_math_tr1l-vc141-mt-gd-1_64\
-llibboost_mpi-vc141-mt-gd-1_64\
-llibboost_numpy-vc141-mt-gd-1_64\
-llibboost_numpy3-vc141-mt-gd-1_64\
-llibboost_prg_exec_monitor-vc141-mt-gd-1_64\
-llibboost_program_options-vc141-mt-gd-1_64\
-llibboost_python-vc141-mt-gd-1_64\
-llibboost_python3-vc141-mt-gd-1_64\
-llibboost_random-vc141-mt-gd-1_64\
-llibboost_regex-vc141-mt-gd-1_64\
-llibboost_serialization-vc141-mt-gd-1_64\
-llibboost_signals-vc141-mt-gd-1_64\
-llibboost_system-vc141-mt-gd-1_64\
-llibboost_test_exec_monitor-vc141-mt-gd-1_64\
-llibboost_thread-vc141-mt-gd-1_64\
-llibboost_timer-vc141-mt-gd-1_64\
-llibboost_type_erasure-vc141-mt-gd-1_64\
-llibboost_unit_test_framework-vc141-mt-gd-1_64\
-llibboost_wave-vc141-mt-gd-1_64\
-llibboost_wserialization-vc141-mt-gd-1_64\
-llibboost_zlib-vc141-mt-gd-1_64\
LIBS += -LE:/qt_workplace/qt_project/pcl_tool/PCL1.8.1/3rdParty/FLANN/lib\
-lflann-gd\
-lflann_cpp-gd\
-lflann_cpp_s-gd\
-lflann_s-gd\
LIBS += -LE:/qt_workplace/qt_project/pcl_tool/PCL1.8.1/3rdParty/OpenNI2/Lib\
-lOpenNI2\
LIBS += -LE:/qt_workplace/qt_project/pcl_tool/PCL1.8.1/3rdParty/Qhull/lib\
-lqhull_d\
-lqhull_p_d\
-lqhull_r_d\
-lqhullcpp_d\
-lqhullstatic_d\
-lqhullstatic_r_d\
LIBS += -LE:/qt_workplace/qt_project/pcl_tool/PCL1.8.1/3rdParty/VTK/lib\
-lvtkChartsCore-8.0-gd\
-lvtkCommonColor-8.0-gd\
-lvtkCommonComputationalGeometry-8.0-gd\
-lvtkCommonCore-8.0-gd\
-lvtkCommonDataModel-8.0-gd\
-lvtkCommonExecutionModel-8.0-gd\
-lvtkCommonMath-8.0-gd\
-lvtkCommonMisc-8.0-gd\
-lvtkCommonSystem-8.0-gd\
-lvtkCommonTransforms-8.0-gd\
-lvtkDICOMParser-8.0-gd\
-lvtkDomainsChemistry-8.0-gd\
-lvtkDomainsChemistryOpenGL2-8.0-gd\
-lvtkFiltersAMR-8.0-gd\
-lvtkFiltersCore-8.0-gd\
-lvtkFiltersExtraction-8.0-gd\
-lvtkFiltersFlowPaths-8.0-gd\
-lvtkFiltersGeneral-8.0-gd\
-lvtkFiltersGeneric-8.0-gd\
-lvtkFiltersGeometry-8.0-gd\
-lvtkFiltersHybrid-8.0-gd\
-lvtkFiltersHyperTree-8.0-gd\
-lvtkFiltersImaging-8.0-gd\
-lvtkFiltersModeling-8.0-gd\
-lvtkFiltersParallel-8.0-gd\
-lvtkFiltersParallelImaging-8.0-gd\
-lvtkFiltersPoints-8.0-gd\
-lvtkFiltersProgrammable-8.0-gd\
-lvtkFiltersSMP-8.0-gd\
-lvtkFiltersSelection-8.0-gd\
-lvtkFiltersSources-8.0-gd\
-lvtkFiltersStatistics-8.0-gd\
-lvtkFiltersTexture-8.0-gd\
-lvtkFiltersTopology-8.0-gd\
-lvtkFiltersVerdict-8.0-gd\
-lvtkGUISupportQt-8.0-gd\
-lvtkGUISupportQtSQL-8.0-gd\
-lvtkGeovisCore-8.0-gd\
-lvtkIOAMR-8.0-gd\
-lvtkIOCore-8.0-gd\
-lvtkIOEnSight-8.0-gd\
-lvtkIOExodus-8.0-gd\
-lvtkIOExport-8.0-gd\
-lvtkIOExportOpenGL2-8.0-gd\
-lvtkIOGeometry-8.0-gd\
-lvtkIOImage-8.0-gd\
-lvtkIOImport-8.0-gd\
-lvtkIOInfovis-8.0-gd\
-lvtkIOLSDyna-8.0-gd\
-lvtkIOLegacy-8.0-gd\
-lvtkIOMINC-8.0-gd\
-lvtkIOMovie-8.0-gd\
-lvtkIONetCDF-8.0-gd\
-lvtkIOPLY-8.0-gd\
-lvtkIOParallel-8.0-gd\
-lvtkIOParallelXML-8.0-gd\
-lvtkIOSQL-8.0-gd\
-lvtkIOTecplotTable-8.0-gd\
-lvtkIOVideo-8.0-gd\
-lvtkIOXML-8.0-gd\
-lvtkIOXMLParser-8.0-gd\
-lvtkImagingColor-8.0-gd\
-lvtkImagingCore-8.0-gd\
-lvtkImagingFourier-8.0-gd\
-lvtkImagingGeneral-8.0-gd\
-lvtkImagingHybrid-8.0-gd\
-lvtkImagingMath-8.0-gd\
-lvtkImagingMorphological-8.0-gd\
-lvtkImagingSources-8.0-gd\
-lvtkImagingStatistics-8.0-gd\
-lvtkImagingStencil-8.0-gd\
-lvtkInfovisCore-8.0-gd\
-lvtkInfovisLayout-8.0-gd\
-lvtkInteractionImage-8.0-gd\
-lvtkInteractionStyle-8.0-gd\
-lvtkInteractionWidgets-8.0-gd\
-lvtkNetCDF-8.0-gd\
-lvtkParallelCore-8.0-gd\
-lvtkRenderingAnnotation-8.0-gd\
-lvtkRenderingContext2D-8.0-gd\
-lvtkRenderingContextOpenGL2-8.0-gd\
-lvtkRenderingCore-8.0-gd\
-lvtkRenderingFreeType-8.0-gd\
-lvtkRenderingGL2PSOpenGL2-8.0-gd\
-lvtkRenderingImage-8.0-gd\
-lvtkRenderingLOD-8.0-gd\
-lvtkRenderingLabel-8.0-gd\
-lvtkRenderingOpenGL2-8.0-gd\
-lvtkRenderingQt-8.0-gd\
-lvtkRenderingVolume-8.0-gd\
-lvtkRenderingVolumeOpenGL2-8.0-gd\
-lvtkViewsContext2D-8.0-gd\
-lvtkViewsCore-8.0-gd\
-lvtkViewsInfovis-8.0-gd\
-lvtkViewsQt-8.0-gd\
-lvtkalglib-8.0-gd\
-lvtkexoIIc-8.0-gd\
-lvtkexpat-8.0-gd\
-lvtkfreetype-8.0-gd\
-lvtkgl2ps-8.0-gd\
-lvtkglew-8.0-gd\
-lvtkhdf5-8.0-gd\
-lvtkhdf5_hl-8.0-gd\
-lvtkjpeg-8.0-gd\
-lvtkjsoncpp-8.0-gd\
-lvtklibharu-8.0-gd\
-lvtklibxml2-8.0-gd\
-lvtklz4-8.0-gd\
-lvtkmetaio-8.0-gd\
-lvtknetcdf_c++-gd\
-lvtkoggtheora-8.0-gd\
-lvtkpng-8.0-gd\
-lvtkproj4-8.0-gd\
-lvtksqlite-8.0-gd\
-lvtksys-8.0-gd\
-lvtktiff-8.0-gd\
-lvtkverdict-8.0-gd\
-lvtkzlib-8.0-gd\
} else {
LIBS += -LE:/qt_workplace/qt_project/pcl_tool/PCL1.8.1/lib\
-lpcl_common_release\
-lpcl_features_release\
-lpcl_filters_release\
-lpcl_io_ply_release\
-lpcl_io_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_stereo_release\
-lpcl_surface_release\
-lpcl_tracking_release\
-lpcl_visualization_release\
LIBS += -LE:/qt_workplace/qt_project/pcl_tool/PCL1.8.1/3rdParty/Boost/lib\
-llibboost_atomic-vc141-mt-1_64\
-llibboost_bzip2-vc141-mt-1_64\
-llibboost_chrono-vc141-mt-1_64\
-llibboost_container-vc141-mt-1_64\
-llibboost_context-vc141-mt-1_64\
-llibboost_coroutine-vc141-mt-1_64\
-llibboost_date_time-vc141-mt-1_64\
-llibboost_exception-vc141-mt-1_64\
-llibboost_fiber-vc141-mt-1_64\
-llibboost_filesystem-vc141-mt-1_64\
-llibboost_graph-vc141-mt-1_64\
-llibboost_graph_parallel-vc141-mt-1_64\
-llibboost_iostreams-vc141-mt-1_64\
-llibboost_locale-vc141-mt-1_64\
-llibboost_log-vc141-mt-1_64\
-llibboost_log_setup-vc141-mt-1_64\
-llibboost_math_c99-vc141-mt-1_64\
-llibboost_math_c99f-vc141-mt-1_64\
-llibboost_math_c99l-vc141-mt-1_64\
-llibboost_math_tr1-vc141-mt-1_64\
-llibboost_math_tr1f-vc141-mt-1_64\
-llibboost_math_tr1l-vc141-mt-1_64\
-llibboost_mpi-vc141-mt-1_64\
-llibboost_numpy-vc141-mt-1_64\
-llibboost_numpy3-vc141-mt-1_64\
-llibboost_prg_exec_monitor-vc141-mt-1_64\
-llibboost_program_options-vc141-mt-1_64\
-llibboost_python-vc141-mt-1_64\
-llibboost_python3-vc141-mt-1_64\
-llibboost_random-vc141-mt-1_64\
-llibboost_regex-vc141-mt-1_64\
-llibboost_serialization-vc141-mt-1_64\
-llibboost_signals-vc141-mt-1_64\
-llibboost_system-vc141-mt-1_64\
-llibboost_test_exec_monitor-vc141-mt-1_64\
-llibboost_thread-vc141-mt-1_64\
-llibboost_timer-vc141-mt-1_64\
-llibboost_type_erasure-vc141-mt-1_64\
-llibboost_unit_test_framework-vc141-mt-1_64\
-llibboost_wave-vc141-mt-1_64\
-llibboost_wserialization-vc141-mt-1_64\
-llibboost_zlib-vc141-mt-1_64\
LIBS += -LE:/qt_workplace/qt_project/pcl_tool/PCL1.8.1/3rdParty/FLANN/lib\
-lflann\
-lflann_cpp\
-lflann_cpp_s\
-lflann_s\
-lOpenNI2\
LIBS += -LE:/qt_workplace/qt_project/pcl_tool/PCL1.8.1/3rdParty/Qhull/lib\
-lqhull\
-lqhull_p\
-lqhull_r\
-lqhullcpp\
-lqhullstatic\
-lqhullstatic_r\
LIBS += -E:/qt_workplace/qt_project/pcl_tool/PCL1.8.1/3rdParty/VTK/lib\
-lvtkChartsCore-8.0\
-lvtkCommonColor-8.0\
-lvtkCommonComputationalGeometry-8.0\
-lvtkCommonCore-8.0\
-lvtkCommonDataModel-8.0\
-lvtkCommonExecutionModel-8.0\
-lvtkCommonMath-8.0\
-lvtkCommonMisc-8.0\
-lvtkCommonSystem-8.0\
-lvtkCommonTransforms-8.0\
-lvtkDICOMParser-8.0\
-lvtkDomainsChemistry-8.0\
-lvtkDomainsChemistryOpenGL2-8.0\
-lvtkFiltersAMR-8.0\
-lvtkFiltersCore-8.0\
-lvtkFiltersExtraction-8.0\
-lvtkFiltersFlowPaths-8.0\
-lvtkFiltersGeneral-8.0\
-lvtkFiltersGeneric-8.0\
-lvtkFiltersGeometry-8.0\
-lvtkFiltersHybrid-8.0\
-lvtkFiltersHyperTree-8.0\
-lvtkFiltersImaging-8.0\
-lvtkFiltersModeling-8.0\
-lvtkFiltersParallel-8.0\
-lvtkFiltersParallelImaging-8.0\
-lvtkFiltersPoints-8.0\
-lvtkFiltersProgrammable-8.0\
-lvtkFiltersSMP-8.0\
-lvtkFiltersSelection-8.0\
-lvtkFiltersSources-8.0\
-lvtkFiltersStatistics-8.0\
-lvtkFiltersTexture-8.0\
-lvtkFiltersTopology-8.0\
-lvtkFiltersVerdict-8.0\
-lvtkGUISupportQt-8.0\
-lvtkGUISupportQtSQL-8.0\
-lvtkGeovisCore-8.0\
-lvtkIOAMR-8.0\
-lvtkIOCore-8.0\
-lvtkIOEnSight-8.0\
-lvtkIOExodus-8.0\
-lvtkIOExport-8.0\
-lvtkIOExportOpenGL2-8.0\
-lvtkIOGeometry-8.0\
-lvtkIOImage-8.0\
-lvtkIOImport-8.0\
-lvtkIOInfovis-8.0\
-lvtkIOLSDyna-8.0\
-lvtkIOLegacy-8.0\
-lvtkIOMINC-8.0\
-lvtkIOMovie-8.0\
-lvtkIONetCDF-8.0\
-lvtkIOPLY-8.0\
-lvtkIOParallel-8.0\
-lvtkIOParallelXML-8.0\
-lvtkIOSQL-8.0\
-lvtkIOTecplotTable-8.0\
-lvtkIOVideo-8.0\
-lvtkIOXML-8.0\
-lvtkIOXMLParser-8.0\
-lvtkImagingColor-8.0\
-lvtkImagingCore-8.0\
-lvtkImagingFourier-8.0\
-lvtkImagingGeneral-8.0\
-lvtkImagingHybrid-8.0\
-lvtkImagingMath-8.0\
-lvtkImagingMorphological-8.0\
-lvtkImagingSources-8.0\
-lvtkImagingStatistics-8.0\
-lvtkImagingStencil-8.0\
-lvtkInfovisCore-8.0\
-lvtkInfovisLayout-8.0\
-lvtkInteractionImage-8.0\
-lvtkInteractionStyle-8.0\
-lvtkInteractionWidgets-8.0\
-lvtkNetCDF-8.0\
-lvtkParallelCore-8.0\
-lvtkRenderingAnnotation-8.0\
-lvtkRenderingContext2D-8.0\
-lvtkRenderingContextOpenGL2-8.0\
-lvtkRenderingCore-8.0\
-lvtkRenderingFreeType-8.0\
-lvtkRenderingGL2PSOpenGL2-8.0\
-lvtkRenderingImage-8.0\
-lvtkRenderingLOD-8.0\
-lvtkRenderingLabel-8.0\
-lvtkRenderingOpenGL2-8.0\
-lvtkRenderingQt-8.0\
-lvtkRenderingVolume-8.0\
-lvtkRenderingVolumeOpenGL2-8.0\
-lvtkViewsContext2D-8.0\
-lvtkViewsCore-8.0\
-lvtkViewsInfovis-8.0\
-lvtkViewsQt-8.0\
-lvtkalglib-8.0\
-lvtkexoIIc-8.0\
-lvtkexpat-8.0\
-lvtkfreetype-8.0\
-lvtkgl2ps-8.0\
-lvtkglew-8.0\
-lvtkhdf5-8.0\
-lvtkhdf5_hl-8.0\
-lvtkjpeg-8.0\
-lvtkjsoncpp-8.0\
-lvtklibharu-8.0\
-lvtklibxml2-8.0\
-lvtklz4-8.0\
-lvtkmetaio-8.0\
-lvtknetcdf_c++\
-lvtkoggtheora-8.0\
-lvtkpng-8.0\
-lvtkproj4-8.0\
-lvtksqlite-8.0\
-lvtksys-8.0\
-lvtktiff-8.0\
-lvtkverdict-8.0\
-lvtkzlib-8.0\
}