VS2019配置pcl1.12.0点云环境

企业开发 2023-09-09 18:22:39 阅读次数: 0

一、pcl下载

下载地址为：https://github.com/PointCloudLibrary/pcl/releases​​​​​​

下载过程中一定要注意vs版本和pcl版本是否对应。本次是vs2019版本配置1.12版本的点云库。

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 接下来无脑进行安装。

（注意：1、添加PCL到系统PATH。2、建议安装到非系统盘。3、安装路径全英文。）

1.pcl安装

6874ec6f8dda42dea7a8a4c3025283f8.png

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 ce80a8c165a64593b3a8c4af683dc242.png

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 2.pdb文件配置

在pcl安装完成后，需要将pcl-1.12.0-rc1-pdb-msvc2019-win64.zip解压，将.pdb文件拷贝到pcl\bin目录下。

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 至此pcl安装结束，接下来需要环境配置了。

二、系统环境配置

88a26a11e46943bda1b52ca61edf791c.png

 添加的路径主要有八个

D:\PCL\3rdParty\OpenNI2\Lib
D:\PCL\3rdParty\OpenNI2\Redist
D:\PCL\3rdParty\OpenNI2\Tools
D:\PCL\bin
D:\PCL\3rdParty\Boost\lib
D:\PCL\3rdParty\FLANN\bin
D:\PCL\3rdParty\Qhull\bin
D:\PCL\3rdParty\VTK\bin

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 点击确定后，系统环境就配置完成了。

三、vs环境配置

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 在属性管理器中新建一个属性表，要区分好平台是x64（64位）还是x86（32位），同时也要分清楚你配置的是debug还release。接下来以debug为例进行配置。

第一步，配置包含目录

c5f3ea924320495394eae80c0bcd417b.png
 包含目录如下：

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

库目录如下：

2d15ac18553b4edbb6e054c8fe640a61.png

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

预处理器配置：


_CRT_SECURE_NO_WARNINGS
_SCL_SECURE_NO_WARNINGS
_SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING
_CRT_NONSTDC_NO_DEPRECATE
BOOST_USE_WINDOWS_H
NOMINMAX
_CRT_SECURE_NO_DEPRECATE

C++=》所有选项=》SDL检查 设置为否

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 附加依赖项配置，一定要小心

这个是依次将刚才库目录下的lib文件名全部提取出来

由于文件夹下文件很多，可以通过代码快速获取

 @echo off
for %%I in (*.lib) do echo %%I>>all.txt
for %%I in (*d.lib) do echo %%I>>adebug.txt
for %%I in (*9.0.lib) do echo %%I>>arelease.txt
pause

在对应文件夹下新建txt文件，将上述代码复制进去后，将txt文件后缀名改为bat，运行即可生成包含文件名的txt文件。

ae147f905ffa4d8e9776f3967977b024.png

还有一种方法是在控制台中输入指令

win+r调出运行窗口，并输入cmd
输入：cd /d C:\Program Files\PCL 1.12.0\3rdParty\VTK\lib
输入：dir /b *.lib *>VTK_lib.txt
输入：cd /d C:\Program Files\PCL 1.12.0\lib
输入：dir /b *.lib *>PCL_lib.txt

该方法也可以在文件夹下新建txt，然后将命令行复制进去后，将txt文件后缀改为bat。

依次运行后debug附加依赖项为：

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_76.lib
libboost_bzip2-vc142-mt-gd-x64-1_76.lib
libboost_chrono-vc142-mt-gd-x64-1_76.lib
libboost_container-vc142-mt-gd-x64-1_76.lib
libboost_context-vc142-mt-gd-x64-1_76.lib
libboost_contract-vc142-mt-gd-x64-1_76.lib
libboost_coroutine-vc142-mt-gd-x64-1_76.lib
libboost_date_time-vc142-mt-gd-x64-1_76.lib
libboost_exception-vc142-mt-gd-x64-1_76.lib
libboost_fiber-vc142-mt-gd-x64-1_76.lib
libboost_filesystem-vc142-mt-gd-x64-1_76.lib
libboost_graph-vc142-mt-gd-x64-1_76.lib
libboost_graph_parallel-vc142-mt-gd-x64-1_76.lib
libboost_iostreams-vc142-mt-gd-x64-1_76.lib
libboost_json-vc142-mt-gd-x64-1_76.lib
libboost_locale-vc142-mt-gd-x64-1_76.lib
libboost_log-vc142-mt-gd-x64-1_76.lib
libboost_log_setup-vc142-mt-gd-x64-1_76.lib
libboost_math_c99-vc142-mt-gd-x64-1_76.lib
libboost_math_c99f-vc142-mt-gd-x64-1_76.lib
libboost_math_c99l-vc142-mt-gd-x64-1_76.lib
libboost_math_tr1-vc142-mt-gd-x64-1_76.lib
libboost_math_tr1f-vc142-mt-gd-x64-1_76.lib
libboost_math_tr1l-vc142-mt-gd-x64-1_76.lib
libboost_mpi-vc142-mt-gd-x64-1_76.lib
libboost_nowide-vc142-mt-gd-x64-1_76.lib
libboost_numpy38-vc142-mt-gd-x64-1_76.lib
libboost_prg_exec_monitor-vc142-mt-gd-x64-1_76.lib
libboost_program_options-vc142-mt-gd-x64-1_76.lib
libboost_python38-vc142-mt-gd-x64-1_76.lib
libboost_random-vc142-mt-gd-x64-1_76.lib
libboost_regex-vc142-mt-gd-x64-1_76.lib
libboost_serialization-vc142-mt-gd-x64-1_76.lib
libboost_stacktrace_noop-vc142-mt-gd-x64-1_76.lib
libboost_stacktrace_windbg-vc142-mt-gd-x64-1_76.lib
libboost_stacktrace_windbg_cached-vc142-mt-gd-x64-1_76.lib
libboost_system-vc142-mt-gd-x64-1_76.lib
libboost_test_exec_monitor-vc142-mt-gd-x64-1_76.lib
libboost_thread-vc142-mt-gd-x64-1_76.lib
libboost_timer-vc142-mt-gd-x64-1_76.lib
libboost_type_erasure-vc142-mt-gd-x64-1_76.lib
libboost_unit_test_framework-vc142-mt-gd-x64-1_76.lib
libboost_wave-vc142-mt-gd-x64-1_76.lib
libboost_wserialization-vc142-mt-gd-x64-1_76.lib
libboost_zlib-vc142-mt-gd-x64-1_76.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
vtkChartsCore-9.0d.lib
vtkCommonColor-9.0d.lib
vtkCommonComputationalGeometry-9.0d.lib
vtkCommonCore-9.0d.lib
vtkCommonDataModel-9.0d.lib
vtkCommonExecutionModel-9.0d.lib
vtkCommonMath-9.0d.lib
vtkCommonMisc-9.0d.lib
vtkCommonSystem-9.0d.lib
vtkCommonTransforms-9.0d.lib
vtkDICOMParser-9.0d.lib
vtkDomainsChemistry-9.0d.lib
vtkDomainsChemistryOpenGL2-9.0d.lib
vtkdoubleconversion-9.0d.lib
vtkexodusII-9.0d.lib
vtkexpat-9.0d.lib
vtkFiltersAMR-9.0d.lib
vtkFiltersCore-9.0d.lib
vtkFiltersExtraction-9.0d.lib
vtkFiltersFlowPaths-9.0d.lib
vtkFiltersGeneral-9.0d.lib
vtkFiltersGeneric-9.0d.lib
vtkFiltersGeometry-9.0d.lib
vtkFiltersHybrid-9.0d.lib
vtkFiltersHyperTree-9.0d.lib
vtkFiltersImaging-9.0d.lib
vtkFiltersModeling-9.0d.lib
vtkFiltersParallel-9.0d.lib
vtkFiltersParallelImaging-9.0d.lib
vtkFiltersPoints-9.0d.lib
vtkFiltersProgrammable-9.0d.lib
vtkFiltersSelection-9.0d.lib
vtkFiltersSMP-9.0d.lib
vtkFiltersSources-9.0d.lib
vtkFiltersStatistics-9.0d.lib
vtkFiltersTexture-9.0d.lib
vtkFiltersTopology-9.0d.lib
vtkFiltersVerdict-9.0d.lib
vtkfreetype-9.0d.lib
vtkGeovisCore-9.0d.lib
vtkgl2ps-9.0d.lib
vtkglew-9.0d.lib
vtkhdf5-9.0d.lib
vtkhdf5_hl-9.0d.lib
vtkImagingColor-9.0d.lib
vtkImagingCore-9.0d.lib
vtkImagingFourier-9.0d.lib
vtkImagingGeneral-9.0d.lib
vtkImagingHybrid-9.0d.lib
vtkImagingMath-9.0d.lib
vtkImagingMorphological-9.0d.lib
vtkImagingSources-9.0d.lib
vtkImagingStatistics-9.0d.lib
vtkImagingStencil-9.0d.lib
vtkInfovisCore-9.0d.lib
vtkInfovisLayout-9.0d.lib
vtkInteractionImage-9.0d.lib
vtkInteractionStyle-9.0d.lib
vtkInteractionWidgets-9.0d.lib
vtkIOAMR-9.0d.lib
vtkIOAsynchronous-9.0d.lib
vtkIOCityGML-9.0d.lib
vtkIOCore-9.0d.lib
vtkIOEnSight-9.0d.lib
vtkIOExodus-9.0d.lib
vtkIOExport-9.0d.lib
vtkIOExportGL2PS-9.0d.lib
vtkIOExportPDF-9.0d.lib
vtkIOGeometry-9.0d.lib
vtkIOImage-9.0d.lib
vtkIOImport-9.0d.lib
vtkIOInfovis-9.0d.lib
vtkIOLegacy-9.0d.lib
vtkIOLSDyna-9.0d.lib
vtkIOMINC-9.0d.lib
vtkIOMotionFX-9.0d.lib
vtkIOMovie-9.0d.lib
vtkIONetCDF-9.0d.lib
vtkIOOggTheora-9.0d.lib
vtkIOParallel-9.0d.lib
vtkIOParallelXML-9.0d.lib
vtkIOPLY-9.0d.lib
vtkIOSegY-9.0d.lib
vtkIOSQL-9.0d.lib
vtkIOTecplotTable-9.0d.lib
vtkIOVeraOut-9.0d.lib
vtkIOVideo-9.0d.lib
vtkIOXML-9.0d.lib
vtkIOXMLParser-9.0d.lib
vtkjpeg-9.0d.lib
vtkjsoncpp-9.0d.lib
vtklibharu-9.0d.lib
vtklibproj-9.0d.lib
vtklibxml2-9.0d.lib
vtkloguru-9.0d.lib
vtklz4-9.0d.lib
vtklzma-9.0d.lib
vtkmetaio-9.0d.lib
vtknetcdf-9.0d.lib
vtkogg-9.0d.lib
vtkParallelCore-9.0d.lib
vtkParallelDIY-9.0d.lib
vtkpng-9.0d.lib
vtkpugixml-9.0d.lib
vtkRenderingAnnotation-9.0d.lib
vtkRenderingContext2D-9.0d.lib
vtkRenderingContextOpenGL2-9.0d.lib
vtkRenderingCore-9.0d.lib
vtkRenderingFreeType-9.0d.lib
vtkRenderingGL2PSOpenGL2-9.0d.lib
vtkRenderingImage-9.0d.lib
vtkRenderingLabel-9.0d.lib
vtkRenderingLOD-9.0d.lib
vtkRenderingOpenGL2-9.0d.lib
vtkRenderingSceneGraph-9.0d.lib
vtkRenderingUI-9.0d.lib
vtkRenderingVolume-9.0d.lib
vtkRenderingVolumeOpenGL2-9.0d.lib
vtkRenderingVtkJS-9.0d.lib
vtksqlite-9.0d.lib
vtksys-9.0d.lib
vtkTestingRendering-9.0d.lib
vtktheora-9.0d.lib
vtktiff-9.0d.lib
vtkverdict-9.0d.lib
vtkViewsContext2D-9.0d.lib
vtkViewsCore-9.0d.lib
vtkViewsInfovis-9.0d.lib
vtkWrappingTools-9.0d.lib
vtkzlib-9.0d.lib

release附加依赖项为

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_76.lib
libboost_bzip2-vc142-mt-x64-1_76.lib
libboost_chrono-vc142-mt-x64-1_76.lib
libboost_container-vc142-mt-x64-1_76.lib
libboost_context-vc142-mt-x64-1_76.lib
libboost_contract-vc142-mt-x64-1_76.lib
libboost_coroutine-vc142-mt-x64-1_76.lib
libboost_date_time-vc142-mt-x64-1_76.lib
libboost_exception-vc142-mt-x64-1_76.lib
libboost_fiber-vc142-mt-x64-1_76.lib
libboost_filesystem-vc142-mt-x64-1_76.lib
libboost_graph-vc142-mt-x64-1_76.lib
libboost_graph_parallel-vc142-mt-x64-1_76.lib
libboost_iostreams-vc142-mt-x64-1_76.lib
libboost_json-vc142-mt-x64-1_76.lib
libboost_locale-vc142-mt-x64-1_76.lib
libboost_log-vc142-mt-x64-1_76.lib
libboost_log_setup-vc142-mt-x64-1_76.lib
libboost_math_c99-vc142-mt-x64-1_76.lib
libboost_math_c99f-vc142-mt-x64-1_76.lib
libboost_math_c99l-vc142-mt-x64-1_76.lib
libboost_math_tr1-vc142-mt-x64-1_76.lib
libboost_math_tr1f-vc142-mt-x64-1_76.lib
libboost_math_tr1l-vc142-mt-x64-1_76.lib
libboost_mpi-vc142-mt-x64-1_76.lib
libboost_nowide-vc142-mt-x64-1_76.lib
libboost_numpy38-vc142-mt-x64-1_76.lib
libboost_prg_exec_monitor-vc142-mt-x64-1_76.lib
libboost_program_options-vc142-mt-x64-1_76.lib
libboost_python38-vc142-mt-x64-1_76.lib
libboost_random-vc142-mt-x64-1_76.lib
libboost_regex-vc142-mt-x64-1_76.lib
libboost_serialization-vc142-mt-x64-1_76.lib
libboost_stacktrace_noop-vc142-mt-x64-1_76.lib
libboost_stacktrace_windbg-vc142-mt-x64-1_76.lib
libboost_stacktrace_windbg_cached-vc142-mt-x64-1_76.lib
libboost_system-vc142-mt-x64-1_76.lib
libboost_test_exec_monitor-vc142-mt-x64-1_76.lib
libboost_thread-vc142-mt-x64-1_76.lib
libboost_timer-vc142-mt-x64-1_76.lib
libboost_type_erasure-vc142-mt-x64-1_76.lib
libboost_unit_test_framework-vc142-mt-x64-1_76.lib
libboost_wave-vc142-mt-x64-1_76.lib
libboost_wserialization-vc142-mt-x64-1_76.lib
libboost_zlib-vc142-mt-x64-1_76.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
vtkChartsCore-9.0.lib
vtkCommonColor-9.0.lib
vtkCommonComputationalGeometry-9.0.lib
vtkCommonCore-9.0.lib
vtkCommonDataModel-9.0.lib
vtkCommonExecutionModel-9.0.lib
vtkCommonMath-9.0.lib
vtkCommonMisc-9.0.lib
vtkCommonSystem-9.0.lib
vtkCommonTransforms-9.0.lib
vtkDICOMParser-9.0.lib
vtkDomainsChemistry-9.0.lib
vtkDomainsChemistryOpenGL2-9.0.lib
vtkdoubleconversion-9.0.lib
vtkexodusII-9.0.lib
vtkexpat-9.0.lib
vtkFiltersAMR-9.0.lib
vtkFiltersCore-9.0.lib
vtkFiltersExtraction-9.0.lib
vtkFiltersFlowPaths-9.0.lib
vtkFiltersGeneral-9.0.lib
vtkFiltersGeneric-9.0.lib
vtkFiltersGeometry-9.0.lib
vtkFiltersHybrid-9.0.lib
vtkFiltersHyperTree-9.0.lib
vtkFiltersImaging-9.0.lib
vtkFiltersModeling-9.0.lib
vtkFiltersParallel-9.0.lib
vtkFiltersParallelImaging-9.0.lib
vtkFiltersPoints-9.0.lib
vtkFiltersProgrammable-9.0.lib
vtkFiltersSelection-9.0.lib
vtkFiltersSMP-9.0.lib
vtkFiltersSources-9.0.lib
vtkFiltersStatistics-9.0.lib
vtkFiltersTexture-9.0.lib
vtkFiltersTopology-9.0.lib
vtkFiltersVerdict-9.0.lib
vtkfreetype-9.0.lib
vtkGeovisCore-9.0.lib
vtkgl2ps-9.0.lib
vtkglew-9.0.lib
vtkhdf5-9.0.lib
vtkhdf5_hl-9.0.lib
vtkImagingColor-9.0.lib
vtkImagingCore-9.0.lib
vtkImagingFourier-9.0.lib
vtkImagingGeneral-9.0.lib
vtkImagingHybrid-9.0.lib
vtkImagingMath-9.0.lib
vtkImagingMorphological-9.0.lib
vtkImagingSources-9.0.lib
vtkImagingStatistics-9.0.lib
vtkImagingStencil-9.0.lib
vtkInfovisCore-9.0.lib
vtkInfovisLayout-9.0.lib
vtkInteractionImage-9.0.lib
vtkInteractionStyle-9.0.lib
vtkInteractionWidgets-9.0.lib
vtkIOAMR-9.0.lib
vtkIOAsynchronous-9.0.lib
vtkIOCityGML-9.0.lib
vtkIOCore-9.0.lib
vtkIOEnSight-9.0.lib
vtkIOExodus-9.0.lib
vtkIOExport-9.0.lib
vtkIOExportGL2PS-9.0.lib
vtkIOExportPDF-9.0.lib
vtkIOGeometry-9.0.lib
vtkIOImage-9.0.lib
vtkIOImport-9.0.lib
vtkIOInfovis-9.0.lib
vtkIOLegacy-9.0.lib
vtkIOLSDyna-9.0.lib
vtkIOMINC-9.0.lib
vtkIOMotionFX-9.0.lib
vtkIOMovie-9.0.lib
vtkIONetCDF-9.0.lib
vtkIOOggTheora-9.0.lib
vtkIOParallel-9.0.lib
vtkIOParallelXML-9.0.lib
vtkIOPLY-9.0.lib
vtkIOSegY-9.0.lib
vtkIOSQL-9.0.lib
vtkIOTecplotTable-9.0.lib
vtkIOVeraOut-9.0.lib
vtkIOVideo-9.0.lib
vtkIOXML-9.0.lib
vtkIOXMLParser-9.0.lib
vtkjpeg-9.0.lib
vtkjsoncpp-9.0.lib
vtklibharu-9.0.lib
vtklibproj-9.0.lib
vtklibxml2-9.0.lib
vtkloguru-9.0.lib
vtklz4-9.0.lib
vtklzma-9.0.lib
vtkmetaio-9.0.lib
vtknetcdf-9.0.lib
vtkogg-9.0.lib
vtkParallelCore-9.0.lib
vtkParallelDIY-9.0.lib
vtkpng-9.0.lib
vtkpugixml-9.0.lib
vtkRenderingAnnotation-9.0.lib
vtkRenderingContext2D-9.0.lib
vtkRenderingContextOpenGL2-9.0.lib
vtkRenderingCore-9.0.lib
vtkRenderingFreeType-9.0.lib
vtkRenderingGL2PSOpenGL2-9.0.lib
vtkRenderingImage-9.0.lib
vtkRenderingLabel-9.0.lib
vtkRenderingLOD-9.0.lib
vtkRenderingOpenGL2-9.0.lib
vtkRenderingSceneGraph-9.0.lib
vtkRenderingUI-9.0.lib
vtkRenderingVolume-9.0.lib
vtkRenderingVolumeOpenGL2-9.0.lib
vtkRenderingVtkJS-9.0.lib
vtksqlite-9.0.lib
vtksys-9.0.lib
vtkTestingRendering-9.0.lib
vtktheora-9.0.lib
vtktiff-9.0.lib
vtkverdict-9.0.lib
vtkViewsContext2D-9.0.lib
vtkViewsCore-9.0.lib
vtkViewsInfovis-9.0.lib
vtkWrappingTools-9.0.lib
vtkzlib-9.0.lib

验证：
 

#include<iostream>
#include<pcl/io/ply_io.h>
#include<pcl/point_types.h>
#include<pcl/visualization/cloud_viewer.h>
#include <chrono>
#include <thread>
#include <boost/thread/thread.hpp>
using namespace std;
int main()
{
	//创建PointCloud的智能指针，pointcloud相当于点云的容器，里面存储pointXYZ点云类型
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud1(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2(new pcl::PointCloud<pcl::PointXYZ>);

	if (pcl::io::loadPLYFile<pcl::PointXYZ>("E:\\乔大花进度\\PCL\\11-29\\点云读取\\1.ply", *cloud1) == -1)
	{
		cout << "请检查点云文件的路径" << endl;
	}

	if (pcl::io::loadPLYFile<pcl::PointXYZ>("E:\\乔大花进度\\PCL\\11-29\\点云读取\\2.ply", *cloud2) == -1)
	{
		cout << "请检查点云文件的路径" << endl;
	}
	//定义可视化话窗口 窗口的类型有两种第一种为 pclVisualization，第二种为CloudViewer

	//共享指针形式定义,new为指针开辟新的地址
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D 窗口")); //第二种定义只是将PCLvisualization换位CloudViewer

	//普通窗口定义形式
	//pcl::visualization::PCLVisualizer Viewer("3D 窗口");

	//设置窗口背景
	viewer->setBackgroundColor(0, 0, 255);

	//设置显示点云颜色
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> Point_color(cloud1, 255, 0, 0);

	//将处理过的点云传入显示窗口中
	viewer->addPointCloud<pcl::PointXYZ>(cloud1, Point_color, "cloud1");
	viewer->addPointCloud<pcl::PointXYZ>(cloud2, "cloud2");



	pcl::ModelCoefficients model;
	model.values.push_back(0);
	model.values.push_back(0);
	model.values.push_back(0);
	model.values.push_back(10);
	viewer->addSphere(model, "sphere");

	//设置点云大小，只能设置指定点云的大小
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "cloud1");


	while (!viewer->wasStopped())
	{

		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(10000));
	}

	return 0;
}

结果：
dc4176dc7c9b4011a90a8839137df02f.png

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