PCL簡介：點云庫全稱是Point Cloud Library（PCL），是一個獨立的、大規(guī)模的、開放的2D/3D圖像和點云處理項目。PCL根據BSD許可條款發(fā)布的，是可以免費用于商用和研究使用。

PCL相關網站：

PCL官網、項目GitHub

項目開發(fā)需要用到PCL，下面記錄一下我的PCL安裝和配置過程。

參考博文：pcl1.8.0+vs2013環(huán)境配置（詳細

1. 版本信息

win10系統

PCL：我安裝的是PCL 1.12.0，需要下載兩個文件：

下載地址： Releases · PointCloudLibrary/pcl (github.com)

VS2019社區(qū)版

2. 安裝教程

step1：

直接運行PCL-1.12.0-rc1-AllInOne-msvc2019-win64.exe，常規(guī)的安裝過程不贅述。

注意：1、添加PCL到系統PATH。2、建議安裝到非系統盤。3、安裝路徑全英文。

step2： 

安裝完成后，將pcl-1.12.0-rc1-pdb-msvc2019-win64.zip解壓，將.pdb文件拷貝到pcl\bin目錄下。

至此PCL的安裝就完成了。

3. 環(huán)境變量設置

參考：PCL出現“無法找到 pcl_commond.dll 文件，程序無法執(zhí)行”的問題。

 在系統環(huán)境變量中添加

我的PCL安裝路徑是D:\Program Files\PCL 1.12.0

所以我需要添加的環(huán)境變量是：

D:\Program Files\PCL 1.12.0\bin

D:\Program Files\PCL 1.12.0\3rdParty\FLANN\bin

D:\Program Files\PCL 1.12.0\3rdParty\Qhull\bin

D:\Program Files\PCL 1.12.0\3rdParty\VTK\bin

D:\Program Files\PCL 1.12.0\3rdParty\Boost\lib

C:\Program Files\OpenNI2\Redist（因為我的OpenNI2裝在別的地方了）

4. VS中PCL的配置

step1：

VS中新建一個C++控制臺程序，一點基操，如果項目正在開發(fā)就用舊的項目。右擊解決方案，點擊屬性，或者從工具欄的視圖-屬性頁進入。

選擇此項目的配置：Debug還是Release，活動平臺要選x64。這一點決定了后面導入依賴項的種類。

step2：

添加包含目錄：VC++目錄 -> 包含目錄 -> 點擊右列，出現一個下拉列表，點擊后出現編輯，點擊進入。

 包含目錄：

你的PCL安裝路徑\PCL 1.XX.XX\3rdPart\Boost\include\boost-1_76

D:\Program Files\PCL 1.12.0-rc1\3rdParty\Eigen\eigen3

D:\Program Files\PCL 1.12.0-rc1\3rdParty\FLANN\include

D:\Program Files\PCL 1.12.0-rc1\3rdParty\OpenNI2\Include（這一個需要看OpenNI2裝的位置）

D:\Program Files\PCL 1.12.0-rc1\3rdParty\VTK\include\vtk-9.0

D:\Program Files\PCL 1.12.0-rc1\3rdParty\Qhull\include

D:\Program Files\PCL 1.12.0-rc1\include\pcl-1.12

 step3:

添加庫目錄：步驟同step2

庫目錄：

 D:\Program Files\PCL 1.12.0-rc1\3rdParty\Boost\lib

D:\Program Files\PCL 1.12.0-rc1\3rdParty\FLANN\lib

D:\Program Files\PCL 1.12.0-rc1\3rdParty\OpenNI2\Lib（這一個需要看OpenNI2裝的位置）

D:\Program Files\PCL 1.12.0-rc1\3rdParty\Qhull\lib

D:\Program Files\PCL 1.12.0-rc1\3rdParty\VTK\lib

D:\Program Files\PCL 1.12.0-rc1\lib

 step4：

添加依賴項：這一步比較繁瑣，需要耐心和一定的時間。

 附加的依賴項是step3各個庫目錄中的.lib文件，debug模式為XXXgdXXX.lib，release模式就是除了XXXgdXXX.lib的那一堆.lib文件，因為文件數很多，建議用bat文件批量獲得各個庫目錄下的.lib文件名。

參考其他博主的方法：VS中PCL庫附加依賴項配置

 @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

根據不同庫目錄下的.lib文件名，修改下圖中畫紅框的部分，就能快速得到需要的.lib文件。

將各個庫目錄下的對應debug或者release版本的.lib文件名添加到依賴項列表中，即可完成配置。

可以將下列的lib文件名先復制到文本文件中，再粘貼至VS中。

PCL1.12.0 debug版本.lib文件名列表（直接復制到庫目錄下即可）

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
 

PCL1.12.0 release版本.lib文件名列表（直接復制到庫目錄下即可）

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

5. 使用 PCL的簡單demo

常用點云模型下載網址：

喬治亞理工學院：Large Geometric Models Archive (gatech.edu)

 隨便下載一個點云文件，我這里下載的是bun_zipper.ply，小兔子ply格式的點云文件，所以程序里面將其轉換為pcd格式的文件。

#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 pcl;
using namespace pcl::io;
 
int user_data;
 
void
viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
    viewer.setBackgroundColor(1.0, 0.5, 1.0);
    pcl::PointXYZ o;
    o.x = 1.0;
    o.y = 0;
    o.z = 0;
    //viewer.addSphere(o, 0.25, "sphere", 0);
    std::cout << "i only run once" << std::endl;
 
}
 
void
viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
{
    static unsigned count = 0;
    std::stringstream ss;
    ss << "Once per viewer loop: " << count++;
    //viewer.removeShape("text", 0);
    //viewer.addText(ss.str(), 200, 300, "text", 0);
 
    //FIXME: possible race condition here:
    user_data++;
}
 
int
main()
{
 
    pcl::PLYReader reader;
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud1(new pcl::PointCloud<pcl::PointXYZ>);
    reader.read<pcl::PointXYZ>("data2\\bun_zipper.ply", *cloud1);
    pcl::io::savePCDFile("data2\\pointcloud.pcd", *cloud1);
 
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBA>);
    pcl::io::loadPCDFile("data2\\pointcloud.pcd", *cloud);
 
    pcl::visualization::CloudViewer viewer("Cloud Viewer");
 
    //blocks until the cloud is actually rendered
    viewer.showCloud(cloud);
 
    //use the following functions to get access to the underlying more advanced/powerful
    //PCLVisualizer
 
    //This will only get called once
    viewer.runOnVisualizationThreadOnce(viewerOneOff);
 
    //This will get called once per visualization iteration
    viewer.runOnVisualizationThread(viewerPsycho);
    while (!viewer.wasStopped())
    {
        //you can also do cool processing here
        //FIXME: Note that this is running in a separate thread from viewerPsycho
        //and you should guard against race conditions yourself...
        user_data++;
    }
    return 0;
}

 至此，你可以開展PCL的實踐了，祝玩得愉快。

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