PCL 1.6.0 VS2010 Configuration

Open VS2010, create a new project, then open property Manager, double-click Microsoft.Cpp.win32.user, open the Propert Y Pages. Then go to VC + + directories, add in the Include directories:
C:\Program Files (x86) \PCL 1.6.0\3rdparty\boost\include
C:\Program Files (x86) \PCL 1.6.0\3rdparty\eigen\include
C:\Program Files (x86) \PCL 1.6.0\3rdparty\flann\include
C:\Program Files (x86) \PCL 1.6.0\3rdparty\qhull\include
C:\Program Files (x86) \PCL 1.6.0\3rdparty\vtk\include\vtk-5.8
C:\Program Files (x86) \PCL 1.6.0\include\pcl-1.6
C:\Program Files (x86) \openni\include

ADD in the Library directories:
C:\Program Files (x86) \PCL 1.6.0\3rdparty\boost\lib
C:\Program Files (x86) \PCL 1.6.0\3rdparty\flann\lib
C:\Program Files (x86) \PCL 1.6.0\3rdparty\qhull\lib
C:\Program Files (x86) \PCL 1.6.0\3rdparty\vtk\lib\vtk-5.8
C:\Program Files (x86) \PCL 1.6.0\lib
C:\Program Files (x86) \openni\lib

Go to Linker, Input-Additional Dependencies:

If you build the project under DEBUG mode, add the following:

Opengl32.lib
Pcl_kdtree_debug.lib
Pcl_io_debug.lib
Pcl_search_debug.lib
Pcl_segmentation_debug.lib
Pcl_apps_debug.lib
Pcl_features_debug.lib
Pcl_filters_debug.lib
Pcl_visualization_debug.lib
Pcl_common_debug.lib
Pcl_io_ply_debug.lib
Pcl_keypoints_debug.lib
Pcl_octree_debug.lib
Pcl_registration_debug.lib
Pcl_sample_consensus_debug.lib
Pcl_surface_debug.lib
Pcl_tracking_debug.lib
Flann_cpp_s-gd.lib
Flann_cuda_s-gd.lib
Flann_s-gd.lib
Flann-gd.lib
Libboost_system-vc100-mt-gd-1_47.lib
Libboost_filesystem-vc100-mt-gd-1_47.lib
Libboost_thread-vc100-mt-gd-1_47.lib
Libboost_date_time-vc100-mt-gd-1_47.lib
Libboost_iostreams-vc100-mt-gd-1_47.lib
Vtkalglib-gd.lib
Vtkcharts-gd.lib
Vtkcommon-gd.lib
Vtkdicomparser-gd.lib
Vtkexoiic-gd.lib
Vtkexpat-gd.lib
Vtkfiltering-gd.lib
Vtkfreetype-gd.lib
Vtkftgl-gd.lib
Vtkgenericfiltering-gd.lib
Vtkgeovis-gd.lib
Vtkgraphics-gd.lib
Vtkhdf5-gd.lib
Vtkhybrid-gd.lib
Vtkimaging-gd.lib
Vtkinfovis-gd.lib
Vtkio-gd.lib
Vtkjpeg-gd.lib
Vtklibxml2-gd.lib
Vtkmetaio-gd.lib
Vtknetcdf-gd.lib
Vtknetcdf_cxx-gd.lib
Vtkpng-gd.lib
Vtkproj4-gd.lib
Vtkrendering-gd.lib
Vtksqlite-gd.lib
Vtksys-gd.lib
Vtktiff-gd.lib
Vtkverdict.lib
VtkViews.lib
VtkVolumeRendering.lib
VtkWidgets.lib
Vtkzlib.lib

If you build the project under RELEASE mode, add the following:

Opengl32.lib
Pcl_kdtree_release.lib
Pcl_io_release.lib
Pcl_search_release.lib
Pcl_segmentation_release.lib
Pcl_apps_release.lib
Pcl_features_release.lib
Pcl_filters_release.lib
Pcl_visualization_release.lib
Pcl_common_release.lib
Flann_cpp_s.lib
Flann.lib
Flann_cuda_s.lib
Flann_s.lib
Libboost_system-vc100-mt-1_47.lib
Libboost_filesystem-vc100-mt-1_47.lib
Libboost_thread-vc100-mt-1_47.lib
Libboost_date_time-vc100-mt-1_47.lib
Libboost_iostreams-vc100-mt-1_47.lib
Vtkalglib.lib
VtkCharts.lib
VtkCommon.lib
VtkDICOMParser.lib
VtkexoIIc.lib
Vtkexpat.lib
VtkFiltering.lib
Vtkfreetype.lib
Vtkftgl.lib
VtkGenericFiltering.lib
VtkGeovis.lib
VtkGraphics.lib
Vtkhdf5.lib
VtkHybrid.lib
VtkImaging.lib
VtkInfovis.lib
VtkIO.lib
Vtkjpeg.lib
Vtklibxml2.lib
Vtkmetaio.lib
VtkNetCDF.lib
Vtknetcdf_cxx.lib
Vtkpng.lib
Vtkproj4.lib
VtkRendering.lib
Vtksqlite.lib
Vtksys.lib
Vtktiff.lib
Vtkverdict.lib
VtkViews.lib
VtkVolumeRendering.lib
VtkWidgets.lib
Vtkzlib.lib

Add following in the path:
C:\Program Files (x86) \PCL 1.6.0\bin
C:\Program Files (x86) \PCL 1.6.0\3rdparty\flann\bin
C:\Program Files (x86) \PCL 1.6.0\3rdparty\qhull\bin

Add following in the CPP file:

#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>

PCL 1.6.0 VS2010 Configuration