3D点云学习笔记（PCL安装及配置）_pcl库

1 PCL简介

PCL英文全称为Point Cloud Library，对于3D点云处理来说，PCL完全是一个的模块化的现代C++模板库。其基于以下第三方库：Boost、Eigen、FLANN、VTK、CUDA、OpenNI2、Qhull，实现点云相关的获取、滤波、分割、配准、检索、特征提取、识别、追踪、曲面重建、可视化等。PCL架构图如下图所示

PCL包含一下模块库，滤波器Filter、特征Features、关键点Keypoints、配准Resistrantion、kd树Kd-tree、oc树Octree、分割Segmentation、采样一致性Sample Consensus、表面Surface、距离图像Range Image、输入输出I/O、可视化Visualization、常用库Common、搜索Search、二进制文件Binaries

PCL Walkthrough
PCL官网
PCL各模块文档

2 PCL安装（Win10 64位+Visual Studio 2019）

2.1 PCL安装包安装

在PCL下载地址中，根据自己的Visual Studio版本，选择合适的PCL版本，如下图VS2019需要安装PCL-1.12.1，下载下图中的前两项（PCL-1.12.1-AllInOne-msvc2019-win64.exe和pcl-1.12.1-pdb-msvc2019-win64.zip），直接运行PCL-1.12.1-AllInOne-msvc2019-win64.exe。PCL 下载地址
由于需要添加的环境变量较多，所以在此界面中需选择不加入到环境变量，之后再手动添加，

在以下组件界面选择全部组件

若在安装过程中弹出OpenNI的安装框，将OpenNI的安装路径设置为PCL安装路径下的3rdParty\OpenNI2文件夹。若未弹出，则双击在PCL安装路径下的3rdParty\OpenNi下的.smi文件。

安装程序结束后，PCL安装目录结构如下图所示，其中第三方库3rdParty文件夹下包含Boost、Eigen、FLANN、OpenNI2、Qhull和VTK六个文件夹，各个文件夹目录结构见下图。

2.2 PCL解压缩文件

pcl-1.12.1-pdb-msvc2019-win64.zip解压后的pdb文件全部拷贝到PCL安装目录下的bin文件夹中。

2.3 配置环境变量

在系统变量中新建PCL，里面包含

 D:\Program Files\PCL 1.12.1\bin;
 D:\Program Files\PCL 1.12.1\3rdParty\VTK\bin;
 D:\Program Files\PCL 1.12.1\3rdParty\Qhull\bin;
 D:\Program Files\PCL 1.12.1\3rdParty\FLANN\bin;
 D:\Program Files\PCL 1.12.1\3rdParty\OpenNI2\Tools;
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之后在环境变量path中加入%PCL%

2.4 VS2019配置PCL

2.4.1 VS2019配置 Include包含目录（.h）

在属性页窗口中选择VC++目录，点击右侧的包含目录，向其中添加 .h文件所在目录 后点击确定。

D:\Program Files\PCL 1.12.1\3rdParty\FLANN\include
D:\Program Files\PCL 1.12.1\3rdParty\Qhull\include
D:\Program Files\PCL 1.12.1\3rdParty\OpenNI2\Include
D:\Program Files\PCL 1.12.1\3rdParty\VTK\include\vtk-8.0
D:\Program Files\PCL 1.12.1\3rdParty\Eigen\eigen3
D:\Program Files\PCL 1.12.1\3rdParty\Boost\include\boost-1_64
D:\Program Files\PCL 1.12.1\include\pcl-1.12
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2.4.2 VS2019配置 Lib库目录

在属性页窗口中选择VC++目录，点击右侧的库目录，向其中添加 .lib文件所在目录 后点击确定。

D:\Program Files\PCL 1.12.1\3rdParty\Qhull\lib
D:\Program Files\PCL 1.12.1\3rdParty\OpenNI2\Lib
D:\Program Files\PCL 1.12.1\3rdParty\FLANN\lib
D:\Program Files\PCL 1.12.1\3rdParty\VTK\lib
D:\Program Files\PCL 1.12.1\3rdParty\Boost\lib
D:\Program Files\PCL 1.12.1\lib

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2.4.3 VS2019配置 链接器->输入（使用Eclipse+Java来获取lib下的lib文件名)

由于项目运行时需要链接到其他lib库文件，所以需要向链接器指定项目运行需要链接到的lib文件名称，因此需要获取PCL安装目录下lib文件夹以及第三方库3rdParty文件夹下所有的lib文件名称，具体的lib文件夹包含：`

（1）D:\Program Files\PCL 1.12.1\lib；
（2）D:\Program Files\PCL 1.12.1\3rdParty\Boost\lib；
（3）D:\Program Files\PCL 1.12.1\3rdParty\FLANN\lib；
（4）D:\Program Files\PCL 1.12.1\3rdParty\OpenNI2\Lib；
（5）D:\Program Files\PCL 1.12.1\3rdParty\Qhull\lib；
（6）D:\Program Files\PCL 1.12.1\3rdParty\VTK\lib`
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以下为获取lib文件名的python程序，需要将file_dir替换成上面的程序运行6次

import os

def traverse(f):
    fs = os.listdir(f)
    print(fs)
    for f1 in fs:
        try:
            if f1.split('.')[1] == 'lib' or f1.split('.')[2] == 'lib':
                print(f1)
        except:
            print()

    return

file_dir = 'D:\\Program Files\\PCL 1.12.1\\3rdParty\\VTK\\Lib'
traverse(file_dir)
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PCL1.12.1 64位Release版本的lib文件如下所示

pcl_common.lib
pcl_commond.lib
pcl_features.lib
pcl_featuresd.lib
pcl_filters.lib
pcl_filtersd.lib
pcl_io.lib
pcl_iod.lib
pcl_io_ply.lib
pcl_io_plyd.lib
pcl_kdtree.lib
pcl_kdtreed.lib
pcl_keypoints.lib
pcl_keypointsd.lib
pcl_ml.lib
pcl_mld.lib
pcl_octree.lib
pcl_octreed.lib
pcl_outofcore.lib
pcl_outofcored.lib
pcl_people.lib
pcl_peopled.lib
pcl_recognition.lib
pcl_recognitiond.lib
pcl_registration.lib
pcl_registrationd.lib
pcl_sample_consensus.lib
pcl_sample_consensusd.lib
pcl_search.lib
pcl_searchd.lib
pcl_segmentation.lib
pcl_segmentationd.lib
pcl_stereo.lib
pcl_stereod.lib
pcl_surface.lib
pcl_surfaced.lib
pcl_tracking.lib
pcl_trackingd.lib
pcl_visualization.lib
pcl_visualizationd.lib
libboost_atomic-vc142-mt-gd-x64-1_78.lib
libboost_atomic-vc142-mt-x64-1_78.lib
libboost_bzip2-vc142-mt-gd-x64-1_78.lib
libboost_bzip2-vc142-mt-x64-1_78.lib
libboost_chrono-vc142-mt-gd-x64-1_78.lib
libboost_chrono-vc142-mt-x64-1_78.lib
libboost_container-vc142-mt-gd-x64-1_78.lib
libboost_container-vc142-mt-x64-1_78.lib
libboost_context-vc142-mt-gd-x64-1_78.lib
libboost_context-vc142-mt-x64-1_78.lib
libboost_contract-vc142-mt-gd-x64-1_78.lib
libboost_contract-vc142-mt-x64-1_78.lib
libboost_coroutine-vc142-mt-gd-x64-1_78.lib
libboost_coroutine-vc142-mt-x64-1_78.lib
libboost_date_time-vc142-mt-gd-x64-1_78.lib
libboost_date_time-vc142-mt-x64-1_78.lib
libboost_exception-vc142-mt-gd-x64-1_78.lib
libboost_exception-vc142-mt-x64-1_78.lib
libboost_filesystem-vc142-mt-gd-x64-1_78.lib
libboost_filesystem-vc142-mt-x64-1_78.lib
libboost_graph-vc142-mt-gd-x64-1_78.lib
libboost_graph-vc142-mt-x64-1_78.lib
libboost_graph_parallel-vc142-mt-gd-x64-1_78.lib
libboost_graph_parallel-vc142-mt-x64-1_78.lib
libboost_iostreams-vc142-mt-gd-x64-1_78.lib
libboost_iostreams-vc142-mt-x64-1_78.lib
libboost_json-vc142-mt-gd-x64-1_78.lib
libboost_json-vc142-mt-x64-1_78.lib
libboost_locale-vc142-mt-gd-x64-1_78.lib
libboost_locale-vc142-mt-x64-1_78.lib
libboost_log-vc142-mt-gd-x64-1_78.lib
libboost_log-vc142-mt-x64-1_78.lib
libboost_log_setup-vc142-mt-gd-x64-1_78.lib
libboost_log_setup-vc142-mt-x64-1_78.lib
libboost_math_c99-vc142-mt-gd-x64-1_78.lib
libboost_math_c99-vc142-mt-x64-1_78.lib
libboost_math_c99f-vc142-mt-gd-x64-1_78.lib
libboost_math_c99f-vc142-mt-x64-1_78.lib
libboost_math_c99l-vc142-mt-gd-x64-1_78.lib
libboost_math_c99l-vc142-mt-x64-1_78.lib
libboost_math_tr1-vc142-mt-gd-x64-1_78.lib
libboost_math_tr1-vc142-mt-x64-1_78.lib
libboost_math_tr1f-vc142-mt-gd-x64-1_78.lib
libboost_math_tr1f-vc142-mt-x64-1_78.lib
libboost_math_tr1l-vc142-mt-gd-x64-1_78.lib
libboost_math_tr1l-vc142-mt-x64-1_78.lib
libboost_mpi-vc142-mt-gd-x64-1_78.lib
libboost_mpi-vc142-mt-x64-1_78.lib
libboost_nowide-vc142-mt-gd-x64-1_78.lib
libboost_nowide-vc142-mt-x64-1_78.lib
libboost_numpy38-vc142-mt-gd-x64-1_78.lib
libboost_numpy38-vc142-mt-x64-1_78.lib
libboost_prg_exec_monitor-vc142-mt-gd-x64-1_78.lib
libboost_prg_exec_monitor-vc142-mt-x64-1_78.lib
libboost_program_options-vc142-mt-gd-x64-1_78.lib
libboost_program_options-vc142-mt-x64-1_78.lib
libboost_python38-vc142-mt-gd-x64-1_78.lib
libboost_python38-vc142-mt-x64-1_78.lib
libboost_random-vc142-mt-gd-x64-1_78.lib
libboost_random-vc142-mt-x64-1_78.lib
libboost_regex-vc142-mt-gd-x64-1_78.lib
libboost_regex-vc142-mt-x64-1_78.lib
libboost_serialization-vc142-mt-gd-x64-1_78.lib
libboost_serialization-vc142-mt-x64-1_78.lib
libboost_system-vc142-mt-gd-x64-1_78.lib
libboost_system-vc142-mt-x64-1_78.lib
libboost_test_exec_monitor-vc142-mt-gd-x64-1_78.lib
libboost_test_exec_monitor-vc142-mt-x64-1_78.lib
libboost_thread-vc142-mt-gd-x64-1_78.lib
libboost_thread-vc142-mt-x64-1_78.lib
libboost_timer-vc142-mt-gd-x64-1_78.lib
libboost_timer-vc142-mt-x64-1_78.lib
libboost_type_erasure-vc142-mt-gd-x64-1_78.lib
libboost_type_erasure-vc142-mt-x64-1_78.lib
libboost_unit_test_framework-vc142-mt-gd-x64-1_78.lib
libboost_unit_test_framework-vc142-mt-x64-1_78.lib
libboost_wave-vc142-mt-gd-x64-1_78.lib
libboost_wave-vc142-mt-x64-1_78.lib
libboost_wserialization-vc142-mt-gd-x64-1_78.lib
libboost_wserialization-vc142-mt-x64-1_78.lib
libboost_zlib-vc142-mt-gd-x64-1_78.lib
libboost_zlib-vc142-mt-x64-1_78.lib
flann-gd.lib
flann.lib
flann_cpp-gd.lib
flann_cpp.lib
flann_cpp_s-gd.lib
flann_cpp_s.lib
flann_s-gd.lib
flann_s.lib
OpenNI2.lib
qhullcpp.lib
qhullcpp_d.lib
qhullstatic.lib
qhullstatic_d.lib
qhullstatic_r.lib
qhullstatic_rd.lib
qhull_r.lib
qhull_rd.lib
vtkcgns-9.1.lib
vtkcgns-9.1d.lib
vtkChartsCore-9.1.lib
vtkChartsCore-9.1d.lib
vtkCommonColor-9.1.lib
vtkCommonColor-9.1d.lib
vtkCommonComputationalGeometry-9.1.lib
vtkCommonComputationalGeometry-9.1d.lib
vtkCommonCore-9.1.lib
vtkCommonCore-9.1d.lib
vtkCommonDataModel-9.1.lib
vtkCommonDataModel-9.1d.lib
vtkCommonExecutionModel-9.1.lib
vtkCommonExecutionModel-9.1d.lib
vtkCommonMath-9.1.lib
vtkCommonMath-9.1d.lib
vtkCommonMisc-9.1.lib
vtkCommonMisc-9.1d.lib
vtkCommonSystem-9.1.lib
vtkCommonSystem-9.1d.lib
vtkCommonTransforms-9.1.lib
vtkCommonTransforms-9.1d.lib
vtkDICOMParser-9.1.lib
vtkDICOMParser-9.1d.lib
vtkDomainsChemistry-9.1.lib
vtkDomainsChemistry-9.1d.lib
vtkDomainsChemistryOpenGL2-9.1.lib
vtkDomainsChemistryOpenGL2-9.1d.lib
vtkdoubleconversion-9.1.lib
vtkdoubleconversion-9.1d.lib
vtkexodusII-9.1.lib
vtkexodusII-9.1d.lib
vtkexpat-9.1.lib
vtkexpat-9.1d.lib
vtkFiltersAMR-9.1.lib
vtkFiltersAMR-9.1d.lib
vtkFiltersCore-9.1.lib
vtkFiltersCore-9.1d.lib
vtkFiltersExtraction-9.1.lib
vtkFiltersExtraction-9.1d.lib
vtkFiltersFlowPaths-9.1.lib
vtkFiltersFlowPaths-9.1d.lib
vtkFiltersGeneral-9.1.lib
vtkFiltersGeneral-9.1d.lib
vtkFiltersGeneric-9.1.lib
vtkFiltersGeneric-9.1d.lib
vtkFiltersGeometry-9.1.lib
vtkFiltersGeometry-9.1d.lib
vtkFiltersHybrid-9.1.lib
vtkFiltersHybrid-9.1d.lib
vtkFiltersHyperTree-9.1.lib
vtkFiltersHyperTree-9.1d.lib
vtkFiltersImaging-9.1.lib
vtkFiltersImaging-9.1d.lib
vtkFiltersModeling-9.1.lib
vtkFiltersModeling-9.1d.lib
vtkFiltersParallel-9.1.lib
vtkFiltersParallel-9.1d.lib
vtkFiltersParallelImaging-9.1.lib
vtkFiltersParallelImaging-9.1d.lib
vtkFiltersPoints-9.1.lib
vtkFiltersPoints-9.1d.lib
vtkFiltersProgrammable-9.1.lib
vtkFiltersProgrammable-9.1d.lib
vtkFiltersSelection-9.1.lib
vtkFiltersSelection-9.1d.lib
vtkFiltersSMP-9.1.lib
vtkFiltersSMP-9.1d.lib
vtkFiltersSources-9.1.lib
vtkFiltersSources-9.1d.lib
vtkFiltersStatistics-9.1.lib
vtkFiltersStatistics-9.1d.lib
vtkFiltersTexture-9.1.lib
vtkFiltersTexture-9.1d.lib
vtkFiltersTopology-9.1.lib
vtkFiltersTopology-9.1d.lib
vtkFiltersVerdict-9.1.lib
vtkFiltersVerdict-9.1d.lib
vtkfmt-9.1.lib
vtkfmt-9.1d.lib
vtkfreetype-9.1.lib
vtkfreetype-9.1d.lib
vtkGeovisCore-9.1.lib
vtkGeovisCore-9.1d.lib
vtkgl2ps-9.1.lib
vtkgl2ps-9.1d.lib
vtkglew-9.1.lib
vtkglew-9.1d.lib
vtkhdf5-9.1.lib
vtkhdf5-9.1d.lib
vtkhdf5_hl-9.1.lib
vtkhdf5_hl-9.1d.lib
vtkImagingColor-9.1.lib
vtkImagingColor-9.1d.lib
vtkImagingCore-9.1.lib
vtkImagingCore-9.1d.lib
vtkImagingFourier-9.1.lib
vtkImagingFourier-9.1d.lib
vtkImagingGeneral-9.1.lib
vtkImagingGeneral-9.1d.lib
vtkImagingHybrid-9.1.lib
vtkImagingHybrid-9.1d.lib
vtkImagingMath-9.1.lib
vtkImagingMath-9.1d.lib
vtkImagingMorphological-9.1.lib
vtkImagingMorphological-9.1d.lib
vtkImagingSources-9.1.lib
vtkImagingSources-9.1d.lib
vtkImagingStatistics-9.1.lib
vtkImagingStatistics-9.1d.lib
vtkImagingStencil-9.1.lib
vtkImagingStencil-9.1d.lib
vtkInfovisCore-9.1.lib
vtkInfovisCore-9.1d.lib
vtkInfovisLayout-9.1.lib
vtkInfovisLayout-9.1d.lib
vtkInteractionImage-9.1.lib
vtkInteractionImage-9.1d.lib
vtkInteractionStyle-9.1.lib
vtkInteractionStyle-9.1d.lib
vtkInteractionWidgets-9.1.lib
vtkInteractionWidgets-9.1d.lib
vtkIOAMR-9.1.lib
vtkIOAMR-9.1d.lib
vtkIOAsynchronous-9.1.lib
vtkIOAsynchronous-9.1d.lib
vtkIOCGNSReader-9.1.lib
vtkIOCGNSReader-9.1d.lib
vtkIOChemistry-9.1.lib
vtkIOChemistry-9.1d.lib
vtkIOCityGML-9.1.lib
vtkIOCityGML-9.1d.lib
vtkIOCONVERGECFD-9.1.lib
vtkIOCONVERGECFD-9.1d.lib
vtkIOCore-9.1.lib
vtkIOCore-9.1d.lib
vtkIOEnSight-9.1.lib
vtkIOEnSight-9.1d.lib
vtkIOExodus-9.1.lib
vtkIOExodus-9.1d.lib
vtkIOExport-9.1.lib
vtkIOExport-9.1d.lib
vtkIOExportGL2PS-9.1.lib
vtkIOExportGL2PS-9.1d.lib
vtkIOExportPDF-9.1.lib
vtkIOExportPDF-9.1d.lib
vtkIOGeometry-9.1.lib
vtkIOGeometry-9.1d.lib
vtkIOHDF-9.1.lib
vtkIOHDF-9.1d.lib
vtkIOImage-9.1.lib
vtkIOImage-9.1d.lib
vtkIOImport-9.1.lib
vtkIOImport-9.1d.lib
vtkIOInfovis-9.1.lib
vtkIOInfovis-9.1d.lib
vtkIOIOSS-9.1.lib
vtkIOIOSS-9.1d.lib
vtkIOLegacy-9.1.lib
vtkIOLegacy-9.1d.lib
vtkIOLSDyna-9.1.lib
vtkIOLSDyna-9.1d.lib
vtkIOMINC-9.1.lib
vtkIOMINC-9.1d.lib
vtkIOMotionFX-9.1.lib
vtkIOMotionFX-9.1d.lib
vtkIOMovie-9.1.lib
vtkIOMovie-9.1d.lib
vtkIONetCDF-9.1.lib
vtkIONetCDF-9.1d.lib
vtkIOOggTheora-9.1.lib
vtkIOOggTheora-9.1d.lib
vtkIOParallel-9.1.lib
vtkIOParallel-9.1d.lib
vtkIOParallelXML-9.1.lib
vtkIOParallelXML-9.1d.lib
vtkIOPLY-9.1.lib
vtkIOPLY-9.1d.lib
vtkIOSegY-9.1.lib
vtkIOSegY-9.1d.lib
vtkIOSQL-9.1.lib
vtkIOSQL-9.1d.lib
vtkioss-9.1.lib
vtkioss-9.1d.lib
vtkIOTecplotTable-9.1.lib
vtkIOTecplotTable-9.1d.lib
vtkIOVeraOut-9.1.lib
vtkIOVeraOut-9.1d.lib
vtkIOVideo-9.1.lib
vtkIOVideo-9.1d.lib
vtkIOXML-9.1.lib
vtkIOXML-9.1d.lib
vtkIOXMLParser-9.1.lib
vtkIOXMLParser-9.1d.lib
vtkjpeg-9.1.lib
vtkjpeg-9.1d.lib
vtkjsoncpp-9.1.lib
vtkjsoncpp-9.1d.lib
vtkkissfft-9.1.lib
vtkkissfft-9.1d.lib
vtklibharu-9.1.lib
vtklibharu-9.1d.lib
vtklibproj-9.1.lib
vtklibproj-9.1d.lib
vtklibxml2-9.1.lib
vtklibxml2-9.1d.lib
vtkloguru-9.1.lib
vtkloguru-9.1d.lib
vtklz4-9.1.lib
vtklz4-9.1d.lib
vtklzma-9.1.lib
vtklzma-9.1d.lib
vtkmetaio-9.1.lib
vtkmetaio-9.1d.lib
vtknetcdf-9.1.lib
vtknetcdf-9.1d.lib
vtkogg-9.1.lib
vtkogg-9.1d.lib
vtkParallelCore-9.1.lib
vtkParallelCore-9.1d.lib
vtkParallelDIY-9.1.lib
vtkParallelDIY-9.1d.lib
vtkpng-9.1.lib
vtkpng-9.1d.lib
vtkpugixml-9.1.lib
vtkpugixml-9.1d.lib
vtkRenderingAnnotation-9.1.lib
vtkRenderingAnnotation-9.1d.lib
vtkRenderingContext2D-9.1.lib
vtkRenderingContext2D-9.1d.lib
vtkRenderingContextOpenGL2-9.1.lib
vtkRenderingContextOpenGL2-9.1d.lib
vtkRenderingCore-9.1.lib
vtkRenderingCore-9.1d.lib
vtkRenderingFreeType-9.1.lib
vtkRenderingFreeType-9.1d.lib
vtkRenderingGL2PSOpenGL2-9.1.lib
vtkRenderingGL2PSOpenGL2-9.1d.lib
vtkRenderingImage-9.1.lib
vtkRenderingImage-9.1d.lib
vtkRenderingLabel-9.1.lib
vtkRenderingLabel-9.1d.lib
vtkRenderingLOD-9.1.lib
vtkRenderingLOD-9.1d.lib
vtkRenderingOpenGL2-9.1.lib
vtkRenderingOpenGL2-9.1d.lib
vtkRenderingSceneGraph-9.1.lib
vtkRenderingSceneGraph-9.1d.lib
vtkRenderingUI-9.1.lib
vtkRenderingUI-9.1d.lib
vtkRenderingVolume-9.1.lib
vtkRenderingVolume-9.1d.lib
vtkRenderingVolumeOpenGL2-9.1.lib
vtkRenderingVolumeOpenGL2-9.1d.lib
vtkRenderingVtkJS-9.1.lib
vtkRenderingVtkJS-9.1d.lib
vtksqlite-9.1.lib
vtksqlite-9.1d.lib
vtksys-9.1.lib
vtksys-9.1d.lib
vtkTestingRendering-9.1.lib
vtkTestingRendering-9.1d.lib
vtktheora-9.1.lib
vtktheora-9.1d.lib
vtktiff-9.1.lib
vtktiff-9.1d.lib
vtkverdict-9.1.lib
vtkverdict-9.1d.lib
vtkViewsContext2D-9.1.lib
vtkViewsContext2D-9.1d.lib
vtkViewsCore-9.1.lib
vtkViewsCore-9.1d.lib
vtkViewsInfovis-9.1.lib
vtkViewsInfovis-9.1d.lib
vtkWrappingTools-9.1.lib
vtkWrappingTools-9.1d.lib
vtkzlib-9.1.lib
vtkzlib-9.1d.lib
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2.4.4 VS2019配置预处理器

在属性页窗口中选择C/C+±>预处理器，点击右侧的预处理器定义，向其中添加_CRT_SECURE_NO_WARNINGS;后点击确定。

2.4.5 VS2019 PCL测试

#include<pcl/visualization/cloud_viewer.h>
#include<iostream>
#include<pcl/io/io.h>
#include<pcl/io/pcd_io.h>
#include<pcl/io/ply_io.h>
#include<pcl/point_types.h>

using namespace std;
using namespace pcl;

void viewerOneOff(visualization::PCLVisualizer& viewer) {
	viewer.setBackgroundColor(0, 0, 0); //设置背景颜色为黑色
}

int main() 
{
	PointCloud<PointXYZ>::Ptr cloud(new PointCloud<PointXYZ>);

	char strfilepath[256] = "rabbit.pcd";
	if (-1 == io::loadPCDFile(strfilepath, *cloud)) 
	{
		cout << "error input!" << endl;
		return -1;
	}

	cout << cloud->points.size() << endl;
	visualization::CloudViewer viewer("Cloud Viewer: Rabbit");

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

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运行结果