win11+visualstudio2022+pcl 1.12.1安装配置

企业开发 2023-08-22 20:01:50 阅读次数: 0

第一步：

上github搜索pcl：

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 5f4dca216421447e86b8a4087b1412af.png

第二步：下载这两个文件

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第三步：

安装并配置PCL1.12.1

双击运行PCL-1.12.1-AllInOne-msvc2019-win64.exe

选择自动添加环境变量： 

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安装完成后查看环境变量，发现Path下并未添加PCL路径

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于是需要我们手动进行添加，这里我们先安装OpenNI2，后面环境变量统一进行添加。

找到如下路径，双击如下文件，进行OpenNI2安装

 392406448c9641ec8f215555cc21b166.png

remove卸载掉原有安装

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卸载完成，重新双击安装，更改安装位置 

更改安装目录到如下路径

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解压pcl-1.12.0-pdb-msvc2019-win64.zip，将得到的pdb文件全部复制到：E:\PCL 1.12.0\bin中。 

环境变量配置
环境变量配置
点云库安装完成之后，还有一个比较重要的步骤，就是配置Windows的环境变量。

右键点击此电脑（我的电脑，计算机，这台电脑等名字），选择属性，接着点击左侧的高级系统设置，然后选择高级选项卡，点击下面的环境变量…按钮，此时便打开了环境变量的配置窗口。

此时，我们可以看到PCL的根目录以及OpenNI2的目录已经添加到了系统变量中。
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然后，我们双击系统变量中的Path，再将以下的目录添加到Path中（注意最后一个OpenNI2的路径，要和自己刚刚安装的路径一样才行）：

%PCL_ROOT%\bin
%PCL_ROOT%\3rdParty\VTK\bin
%PCL_ROOT%\3rdParty\FLANN\bin
%OPENNI2_REDIST64%
%PCL_ROOT%\3rdParty\Qhull\bin
%PCL_ROOT%\3rdParty\OpenNI2\Tools
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最后：Visual Studio开发环境配置

新建一个空项目，并在新建一个c++源文件。

打开项目属性页。

配置属性–>调试–>环境–>添加

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E:\vs_pcl1.12.1\PCL 1.12.1\bin
E:\vs_pcl1.12.1\PCL 1.12.1\3rdParty\FLANN\bin
E:\vs_pcl1.12.1\PCL 1.12.1\3rdParty\VTK\bin
E:\vs_pcl1.12.1\PCL 1.12.1\3rdParty\OpenNI2\Tools


SDL检查设置为否

b98db2f7958c40ab9720addd029adfed.png

 符合模式置否

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VC++目录–>包含目录 配置 

点击该窗口左侧的VC++ 目录，然后点击右侧的包含目录右侧的下拉菜单，选择编辑…，将以下目录填入窗口中：

E:\PCL 1.12.0\3rdParty\Boost\include\boost-1_76
E:\PCL 1.12.0\3rdParty\Eigen\eigen3
E:\PCL 1.12.0\3rdParty\FLANN\include
E:\PCL 1.12.0\3rdParty\Qhull\include
E:\PCL 1.12.0\3rdParty\VTK\include\vtk-9.0
E:\PCL 1.12.0\include\pcl-1.12
E:\PCL 1.12.0\3rdParty\OpenNI2\Include
 

点击右侧的库目录右侧的下拉菜单，选择编辑…，将以下目录填入窗口中：

E:\PCL 1.12.0\lib
E:\PCL 1.12.0\3rdParty\Boost\lib
E:\PCL 1.12.0\3rdParty\FLANN\lib
E:\PCL 1.12.0\3rdParty\Qhull\lib
E:\PCL 1.12.0\3rdParty\VTK\lib
E:\PCL 1.12.0\3rdParty\OpenNI2\Lib
 

然后点击属性页中的C/C++下的预处理器，点击右侧的预处理器定义右侧的下拉菜单，选择编辑…，添加如下两条定义：

_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS

然后再点击预编译头，将右侧的预编译头设置为不使用预编译头。这个设置可以依据自己的习惯决定，可以省略。

接着点击属性页中的链接器下的输入，点击右侧的附加依赖项右侧的下拉菜单，选择编辑…，将pcl和3rdParty相关lib文件填写到窗口中：

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
libboost_atomic-vc142-mt-gd-x64-1_78.lib
libboost_bzip2-vc142-mt-gd-x64-1_78.lib
libboost_chrono-vc142-mt-gd-x64-1_78.lib
libboost_container-vc142-mt-gd-x64-1_78.lib
libboost_context-vc142-mt-gd-x64-1_78.lib
libboost_contract-vc142-mt-gd-x64-1_78.lib
libboost_coroutine-vc142-mt-gd-x64-1_78.lib
libboost_date_time-vc142-mt-gd-x64-1_78.lib
libboost_exception-vc142-mt-gd-x64-1_78.lib
libboost_filesystem-vc142-mt-gd-x64-1_78.lib
libboost_graph-vc142-mt-gd-x64-1_78.lib
libboost_graph_parallel-vc142-mt-gd-x64-1_78.lib
libboost_iostreams-vc142-mt-gd-x64-1_78.lib
libboost_json-vc142-mt-gd-x64-1_78.lib
libboost_locale-vc142-mt-gd-x64-1_78.lib
libboost_log-vc142-mt-gd-x64-1_78.lib
libboost_log_setup-vc142-mt-gd-x64-1_78.lib
libboost_math_c99-vc142-mt-gd-x64-1_78.lib
libboost_math_c99f-vc142-mt-gd-x64-1_78.lib
libboost_math_c99l-vc142-mt-gd-x64-1_78.lib
libboost_math_tr1-vc142-mt-gd-x64-1_78.lib
libboost_math_tr1f-vc142-mt-gd-x64-1_78.lib
libboost_math_tr1l-vc142-mt-gd-x64-1_78.lib
libboost_mpi-vc142-mt-gd-x64-1_78.lib
libboost_nowide-vc142-mt-gd-x64-1_78.lib
libboost_numpy38-vc142-mt-gd-x64-1_78.lib
libboost_prg_exec_monitor-vc142-mt-gd-x64-1_78.lib
libboost_program_options-vc142-mt-gd-x64-1_78.lib
libboost_python38-vc142-mt-gd-x64-1_78.lib
libboost_random-vc142-mt-gd-x64-1_78.lib
libboost_regex-vc142-mt-gd-x64-1_78.lib
libboost_serialization-vc142-mt-gd-x64-1_78.lib
libboost_system-vc142-mt-gd-x64-1_78.lib
libboost_test_exec_monitor-vc142-mt-gd-x64-1_78.lib
libboost_thread-vc142-mt-gd-x64-1_78.lib
libboost_timer-vc142-mt-gd-x64-1_78.lib
libboost_type_erasure-vc142-mt-gd-x64-1_78.lib
libboost_unit_test_framework-vc142-mt-gd-x64-1_78.lib
libboost_wave-vc142-mt-gd-x64-1_78.lib
libboost_wserialization-vc142-mt-gd-x64-1_78.lib
libboost_zlib-vc142-mt-gd-x64-1_78.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
OpenNI2.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_rd.lib
qhull_rd.lib
vtkcgns-9.1d.lib
vtkChartsCore-9.1d.lib
vtkCommonColor-9.1d.lib
vtkCommonComputationalGeometry-9.1d.lib
vtkCommonCore-9.1d.lib
vtkCommonDataModel-9.1d.lib
vtkCommonExecutionModel-9.1d.lib
vtkCommonMath-9.1d.lib
vtkCommonMisc-9.1d.lib
vtkCommonSystem-9.1d.lib
vtkCommonTransforms-9.1d.lib
vtkDICOMParser-9.1d.lib
vtkDomainsChemistry-9.1d.lib
vtkDomainsChemistryOpenGL2-9.1d.lib
vtkdoubleconversion-9.1d.lib
vtkexodusII-9.1d.lib
vtkexpat-9.1d.lib
vtkFiltersAMR-9.1d.lib
vtkFiltersCore-9.1d.lib
vtkFiltersExtraction-9.1d.lib
vtkFiltersFlowPaths-9.1d.lib
vtkFiltersGeneral-9.1d.lib
vtkFiltersGeneric-9.1d.lib
vtkFiltersGeometry-9.1d.lib
vtkFiltersHybrid-9.1d.lib
vtkFiltersHyperTree-9.1d.lib
vtkFiltersImaging-9.1d.lib
vtkFiltersModeling-9.1d.lib
vtkFiltersParallel-9.1d.lib
vtkFiltersParallelImaging-9.1d.lib
vtkFiltersPoints-9.1d.lib
vtkFiltersProgrammable-9.1d.lib
vtkFiltersSelection-9.1d.lib
vtkFiltersSMP-9.1d.lib
vtkFiltersSources-9.1d.lib
vtkFiltersStatistics-9.1d.lib
vtkFiltersTexture-9.1d.lib
vtkFiltersTopology-9.1d.lib
vtkFiltersVerdict-9.1d.lib
vtkfmt-9.1d.lib
vtkfreetype-9.1d.lib
vtkGeovisCore-9.1d.lib
vtkgl2ps-9.1d.lib
vtkglew-9.1d.lib
vtkhdf5-9.1d.lib
vtkhdf5_hl-9.1d.lib
vtkImagingColor-9.1d.lib
vtkImagingCore-9.1d.lib
vtkImagingFourier-9.1d.lib
vtkImagingGeneral-9.1d.lib
vtkImagingHybrid-9.1d.lib
vtkImagingMath-9.1d.lib
vtkImagingMorphological-9.1d.lib
vtkImagingSources-9.1d.lib
vtkImagingStatistics-9.1d.lib
vtkImagingStencil-9.1d.lib
vtkInfovisCore-9.1d.lib
vtkInfovisLayout-9.1d.lib
vtkInteractionImage-9.1d.lib
vtkInteractionStyle-9.1d.lib
vtkInteractionWidgets-9.1d.lib
vtkIOAMR-9.1d.lib
vtkIOAsynchronous-9.1d.lib
vtkIOCGNSReader-9.1d.lib
vtkIOChemistry-9.1d.lib
vtkIOCityGML-9.1d.lib
vtkIOCONVERGECFD-9.1d.lib
vtkIOCore-9.1d.lib
vtkIOEnSight-9.1d.lib
vtkIOExodus-9.1d.lib
vtkIOExport-9.1d.lib
vtkIOExportGL2PS-9.1d.lib
vtkIOExportPDF-9.1d.lib
vtkIOGeometry-9.1d.lib
vtkIOHDF-9.1d.lib
vtkIOImage-9.1d.lib
vtkIOImport-9.1d.lib
vtkIOInfovis-9.1d.lib
vtkIOIOSS-9.1d.lib
vtkIOLegacy-9.1d.lib
vtkIOLSDyna-9.1d.lib
vtkIOMINC-9.1d.lib
vtkIOMotionFX-9.1d.lib
vtkIOMovie-9.1d.lib
vtkIONetCDF-9.1d.lib
vtkIOOggTheora-9.1d.lib
vtkIOParallel-9.1d.lib
vtkIOParallelXML-9.1d.lib
vtkIOPLY-9.1d.lib
vtkIOSegY-9.1d.lib
vtkIOSQL-9.1d.lib
vtkioss-9.1d.lib
vtkIOTecplotTable-9.1d.lib
vtkIOVeraOut-9.1d.lib
vtkIOVideo-9.1d.lib
vtkIOXML-9.1d.lib
vtkIOXMLParser-9.1d.lib
vtkjpeg-9.1d.lib
vtkjsoncpp-9.1d.lib
vtkkissfft-9.1d.lib
vtklibharu-9.1d.lib
vtklibproj-9.1d.lib
vtklibxml2-9.1d.lib
vtkloguru-9.1d.lib
vtklz4-9.1d.lib
vtklzma-9.1d.lib
vtkmetaio-9.1d.lib
vtknetcdf-9.1d.lib
vtkogg-9.1d.lib
vtkParallelCore-9.1d.lib
vtkParallelDIY-9.1d.lib
vtkpng-9.1d.lib
vtkpugixml-9.1d.lib
vtkRenderingAnnotation-9.1d.lib
vtkRenderingContext2D-9.1d.lib
vtkRenderingContextOpenGL2-9.1d.lib
vtkRenderingCore-9.1d.lib
vtkRenderingFreeType-9.1d.lib
vtkRenderingGL2PSOpenGL2-9.1d.lib
vtkRenderingImage-9.1d.lib
vtkRenderingLabel-9.1d.lib
vtkRenderingLOD-9.1d.lib
vtkRenderingOpenGL2-9.1d.lib
vtkRenderingSceneGraph-9.1d.lib
vtkRenderingUI-9.1d.lib
vtkRenderingVolume-9.1d.lib
vtkRenderingVolumeOpenGL2-9.1d.lib
vtkRenderingVtkJS-9.1d.lib
vtksqlite-9.1d.lib
vtksys-9.1d.lib
vtkTestingRendering-9.1d.lib
vtktheora-9.1d.lib
vtktiff-9.1d.lib
vtkverdict-9.1d.lib
vtkViewsContext2D-9.1d.lib
vtkViewsCore-9.1d.lib
vtkViewsInfovis-9.1d.lib
vtkWrappingTools-9.1d.lib
vtkzlib-9.1d.lib


注意：Debug   和  release的附加依赖.lib文件不一样

1d7a240cfaef45158140e34150261a05.png

Release的：

pcl_common.lib
pcl_features.lib
pcl_filters.lib
pcl_io.lib
pcl_io_ply.lib
pcl_kdtree.lib
pcl_keypoints.lib
pcl_ml.lib
pcl_octree.lib
pcl_outofcore.lib
pcl_people.lib
pcl_recognition.lib
pcl_registration.lib
pcl_sample_consensus.lib
pcl_search.lib
pcl_segmentation.lib
pcl_stereo.lib
pcl_surface.lib
pcl_tracking.lib
pcl_visualization.lib
libboost_atomic-vc142-mt-x64-1_78.lib
libboost_bzip2-vc142-mt-x64-1_78.lib
libboost_chrono-vc142-mt-x64-1_78.lib
libboost_container-vc142-mt-x64-1_78.lib
libboost_context-vc142-mt-x64-1_78.lib
libboost_contract-vc142-mt-x64-1_78.lib
libboost_coroutine-vc142-mt-x64-1_78.lib
libboost_date_time-vc142-mt-x64-1_78.lib
libboost_exception-vc142-mt-x64-1_78.lib
libboost_filesystem-vc142-mt-x64-1_78.lib
libboost_graph-vc142-mt-x64-1_78.lib
libboost_graph_parallel-vc142-mt-x64-1_78.lib
libboost_iostreams-vc142-mt-x64-1_78.lib
libboost_json-vc142-mt-x64-1_78.lib
libboost_locale-vc142-mt-x64-1_78.lib
libboost_log-vc142-mt-x64-1_78.lib
libboost_log_setup-vc142-mt-x64-1_78.lib
libboost_math_c99-vc142-mt-x64-1_78.lib
libboost_math_c99f-vc142-mt-x64-1_78.lib
libboost_math_c99l-vc142-mt-x64-1_78.lib
libboost_math_tr1-vc142-mt-x64-1_78.lib
libboost_math_tr1f-vc142-mt-x64-1_78.lib
libboost_math_tr1l-vc142-mt-x64-1_78.lib
libboost_mpi-vc142-mt-x64-1_78.lib
libboost_nowide-vc142-mt-x64-1_78.lib
libboost_numpy38-vc142-mt-x64-1_78.lib
libboost_prg_exec_monitor-vc142-mt-x64-1_78.lib
libboost_program_options-vc142-mt-x64-1_78.lib
libboost_python38-vc142-mt-x64-1_78.lib
libboost_random-vc142-mt-x64-1_78.lib
libboost_regex-vc142-mt-x64-1_78.lib
libboost_serialization-vc142-mt-x64-1_78.lib
libboost_system-vc142-mt-x64-1_78.lib
libboost_test_exec_monitor-vc142-mt-x64-1_78.lib
libboost_thread-vc142-mt-x64-1_78.lib
libboost_timer-vc142-mt-x64-1_78.lib
libboost_type_erasure-vc142-mt-x64-1_78.lib
libboost_unit_test_framework-vc142-mt-x64-1_78.lib
libboost_wave-vc142-mt-x64-1_78.lib
libboost_wserialization-vc142-mt-x64-1_78.lib
libboost_zlib-vc142-mt-x64-1_78.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_s.lib
OpenNI2.lib
qhullcpp.lib
qhullstatic.lib
qhullstatic_r.lib
qhull_r.lib
vtkcgns-9.1.lib
vtkChartsCore-9.1.lib
vtkCommonColor-9.1.lib
vtkCommonComputationalGeometry-9.1.lib
vtkCommonCore-9.1.lib
vtkCommonDataModel-9.1.lib
vtkCommonExecutionModel-9.1.lib
vtkCommonMath-9.1.lib
vtkCommonMisc-9.1.lib
vtkCommonSystem-9.1.lib
vtkCommonTransforms-9.1.lib
vtkDICOMParser-9.1.lib
vtkDomainsChemistry-9.1.lib
vtkDomainsChemistryOpenGL2-9.1.lib
vtkdoubleconversion-9.1.lib
vtkexodusII-9.1.lib
vtkexpat-9.1.lib
vtkFiltersAMR-9.1.lib
vtkFiltersCore-9.1.lib
vtkFiltersExtraction-9.1.lib
vtkFiltersFlowPaths-9.1.lib
vtkFiltersGeneral-9.1.lib
vtkFiltersGeneric-9.1.lib
vtkFiltersGeometry-9.1.lib
vtkFiltersHybrid-9.1.lib
vtkFiltersHyperTree-9.1.lib
vtkFiltersImaging-9.1.lib
vtkFiltersModeling-9.1.lib
vtkFiltersParallel-9.1.lib
vtkFiltersParallelImaging-9.1.lib
vtkFiltersPoints-9.1.lib
vtkFiltersProgrammable-9.1.lib
vtkFiltersSelection-9.1.lib
vtkFiltersSMP-9.1.lib
vtkFiltersSources-9.1.lib
vtkFiltersStatistics-9.1.lib
vtkFiltersTexture-9.1.lib
vtkFiltersTopology-9.1.lib
vtkFiltersVerdict-9.1.lib
vtkfmt-9.1.lib
vtkfreetype-9.1.lib
vtkGeovisCore-9.1.lib
vtkgl2ps-9.1.lib
vtkglew-9.1.lib
vtkhdf5-9.1.lib
vtkhdf5_hl-9.1.lib
vtkImagingColor-9.1.lib
vtkImagingCore-9.1.lib
vtkImagingFourier-9.1.lib
vtkImagingGeneral-9.1.lib
vtkImagingHybrid-9.1.lib
vtkImagingMath-9.1.lib
vtkImagingMorphological-9.1.lib
vtkImagingSources-9.1.lib
vtkImagingStatistics-9.1.lib
vtkImagingStencil-9.1.lib
vtkInfovisCore-9.1.lib
vtkInfovisLayout-9.1.lib
vtkInteractionImage-9.1.lib
vtkInteractionStyle-9.1.lib
vtkInteractionWidgets-9.1.lib
vtkIOAMR-9.1.lib
vtkIOAsynchronous-9.1.lib
vtkIOCGNSReader-9.1.lib
vtkIOChemistry-9.1.lib
vtkIOCityGML-9.1.lib
vtkIOCONVERGECFD-9.1.lib
vtkIOCore-9.1.lib
vtkIOEnSight-9.1.lib
vtkIOExodus-9.1.lib
vtkIOExport-9.1.lib
vtkIOExportGL2PS-9.1.lib
vtkIOExportPDF-9.1.lib
vtkIOGeometry-9.1.lib
vtkIOHDF-9.1.lib
vtkIOImage-9.1.lib
vtkIOImport-9.1.lib
vtkIOInfovis-9.1.lib
vtkIOIOSS-9.1.lib
vtkIOLegacy-9.1.lib
vtkIOLSDyna-9.1.lib
vtkIOMINC-9.1.lib
vtkIOMotionFX-9.1.lib
vtkIOMovie-9.1.lib
vtkIONetCDF-9.1.lib
vtkIOOggTheora-9.1.lib
vtkIOParallel-9.1.lib
vtkIOParallelXML-9.1.lib
vtkIOPLY-9.1.lib
vtkIOSegY-9.1.lib
vtkIOSQL-9.1.lib
vtkioss-9.1.lib
vtkIOTecplotTable-9.1.lib
vtkIOVeraOut-9.1.lib
vtkIOVideo-9.1.lib
vtkIOXML-9.1.lib
vtkIOXMLParser-9.1.lib
vtkjpeg-9.1.lib
vtkjsoncpp-9.1.lib
vtkkissfft-9.1.lib
vtklibharu-9.1.lib
vtklibproj-9.1.lib
vtklibxml2-9.1.lib
vtkloguru-9.1.lib
vtklz4-9.1.lib
vtklzma-9.1.lib
vtkmetaio-9.1.lib
vtknetcdf-9.1.lib
vtkogg-9.1.lib
vtkParallelCore-9.1.lib
vtkParallelDIY-9.1.lib
vtkpng-9.1.lib
vtkpugixml-9.1.lib
vtkRenderingAnnotation-9.1.lib
vtkRenderingContext2D-9.1.lib
vtkRenderingContextOpenGL2-9.1.lib
vtkRenderingCore-9.1.lib
vtkRenderingFreeType-9.1.lib
vtkRenderingGL2PSOpenGL2-9.1.lib
vtkRenderingImage-9.1.lib
vtkRenderingLabel-9.1.lib
vtkRenderingLOD-9.1.lib
vtkRenderingOpenGL2-9.1.lib
vtkRenderingSceneGraph-9.1.lib
vtkRenderingUI-9.1.lib
vtkRenderingVolume-9.1.lib
vtkRenderingVolumeOpenGL2-9.1.lib
vtkRenderingVtkJS-9.1.lib
vtksqlite-9.1.lib
vtksys-9.1.lib
vtkTestingRendering-9.1.lib
vtktheora-9.1.lib
vtktiff-9.1.lib
vtkverdict-9.1.lib
vtkViewsContext2D-9.1.lib
vtkViewsCore-9.1.lib
vtkViewsInfovis-9.1.lib
vtkWrappingTools-9.1.lib
vtkzlib-9.1.lib
 

测试：

#include<iostream>
#include<pcl/io/pcd_io.h>
#include<pcl/io/ply_io.h>
#include<pcl/visualization/cloud_viewer.h>
int user_data;
using std::cout;


void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) {


	viewer.setBackgroundColor(1.0, 0.5, 1.0);   //设置背景颜色
}

int main() {


	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

	char strfilepath[256] = "rabbit.pcd";
	if (-1 == pcl::io::loadPCDFile(strfilepath, *cloud)) {


		cout << "error input!" << endl;
		return -1;
	}

	cout << cloud->points.size() << endl;
	pcl::visualization::CloudViewer viewer("Cloud Viewer");   //创建viewer对象

	viewer.showCloud(cloud);
	viewer.runOnVisualizationThreadOnce(viewerOneOff);
	system("pause");
	return 0;
}


 

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