【 PCL点云库笔记01基本用法】001 之 Win10+VS2015+PCL_1.8.0配置

电玩女神 2021-06-11 15:14 408阅读 0赞

**一、前言**

最近在学习点云库，由于刚刚入门，很多东西也不是很了解，如果大家有什么问题，都可以跟我沟通交流。除了通过博客交流外，欢迎你加入我的QQ群（326866692），一起交流有关于机器学习、深度学习、计算机视觉的内容。目前我并未确定具体的研究方向，所以现在处于广泛涉猎阶段，希望我们能够一起沟通。下图是我的群二维码：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_26_color_2FFF3F_t_70][]

今天要分享的是**PCL配置。**

**1、PCL简介**

**PCL（Point Cloud Library）**是在吸收了前人点云相关研究基础上建立起来的大型跨平台开源C++编程库，它实现了大量点云相关的通用算法和高效数据结构，涉及到点云获取、滤波、分割、配准、检索、特征提取、识别、追踪、曲面重建、可视化等。支持多种操作系统平台，可在Windows、Linux、Android、Mac OS X、部分嵌入式实时系统上运行。如果说OpenCV是2D信息获取与处理的结晶，那么PCL就在3D信息获取与处理上具有同等地位。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_46_color_F4545F_t_40][] PCL架构图

**2、软硬件环境**

**电脑：**Windows 10 64位

**编译器：**Visual Studio 2015

**PCL：** PCL 1.8.0 All-in-one InstallerMSVC2015 x64

下载地址：百度网盘：[https://pan.baidu.com/s/1Jm\_mGGp36u-nO4MLdt0PTQ][https_pan.baidu.com_s_1Jm_mGGp36u-nO4MLdt0PTQ]  提取码：jx5r

**注：**不同的电脑处理器位数和不同的编译器对应的PCL版本不同。

**二、PCL配置**

**1、PCL安装**

1.双击执行文件

![20190306075822350.png][]

2.点击下一步

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_16_color_FFFFFF_t_70][]

3.点击我接受

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_16_color_FFFFFF_t_70 1][]

4.添加所有用户（自由选择是否保存桌面图标）

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_16_color_FFFFFF_t_70 2][]

5.选择安装路径并等待安装

**注意点：**

（1）尽量不要出现英文路径。

（2）最好保存在系统盘外的盘符。

（3）保证空间大于4.2G。

（4）**安装时，会提示安装OpenNI**，这个建议安装在PCL安装路径的3rdParty下的OpenNI2文件夹中。

（5）安装时间较长，请耐心等待。

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_16_color_FFFFFF_t_70 3][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_16_color_FFFFFF_t_70 4][]

**2、PCL配置**

### 1.打开VS2015，创建一个空项目 ###

**注：**去掉预编译头和SDL检查

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_46_color_2121FF_t_70][]

### 2.配置 ###

**1.包含目录配置**

依次选择 **调试-属性-VC++目录-包含目录 **添加如下内容：

**注意：与自己安装路径有关。**

> E:\\Program Files\\PCL 1.8.1\\include\\pcl-1.8
> 
> E:\\Program Files\\PCL 1.8.1\\3rdParty\\Boost\\include\\boost-1\_64
> 
> E:\\Program Files\\PCL 1.8.1\\3rdParty\\Eigen\\eigen3
> 
> E:\\Program Files\\PCL 1.8.1\\3rdParty\\FLANN\\include
> 
> E:\\Program Files\\PCL 1.8.1\\3rdParty\\OpenNI2
> 
> E:\\Program Files\\PCL 1.8.1\\3rdParty\\Qhull\\include
> 
> E:\\Program Files\\PCL 1.8.1\\3rdParty\\VTK\\include

**2.库目录配置**

依次选择 **调试-属性-VC++目录-库目录 **添加如下内容：

**注意：与自己安装路径有关。**

> E:\\Program Files\\PCL 1.8.1\\lib
> 
> E:\\Program Files\\PCL 1.8.1\\3rdParty\\Boost\\lib
> 
> E:\\Program Files\\PCL 1.8.1\\3rdParty\\FLANN\\lib
> 
> E:\\Program Files\\PCL 1.8.1\\3rdParty\\Qhull\\lib
> 
> E:\\Program Files\\PCL 1.8.1\\3rdParty\\OpenNI2\\lib
> 
> E:\\Program Files\\PCL 1.8.1\\3rdParty\\VTK\\lib

**3.环境配置**

依次选择 **调试-属性-调试-环境**添加如下内容：

**注意：与自己安装路径有关。**

> path = E:\\Program Files\\PCL 1.8.1\\bin

**4.lib文件配置**

依次选择 **调试-属性-链接器-附加依赖项** 添加如下内容：

（1）Debug模式下添加如下内容

> pcl\_common\_debug.lib
> 
> pcl\_features\_debug.lib
> 
> pcl\_filters\_debug.lib
> 
> pcl\_io\_debug.lib
> 
> pcl\_io\_ply\_debug.lib
> 
> pcl\_kdtree\_debug.lib
> 
> pcl\_keypoints\_debug.lib
> 
> pcl\_ml\_debug.lib
> 
> pcl\_octree\_debug.lib
> 
> pcl\_outofcore\_debug.lib
> 
> pcl\_people\_debug.lib
> 
> pcl\_recognition\_debug.lib
> 
> pcl\_registration\_debug.lib
> 
> pcl\_sample\_consensus\_debug.lib
> 
> pcl\_search\_debug.lib
> 
> pcl\_segmentation\_debug.lib
> 
> pcl\_stereo\_debug.lib
> 
> pcl\_surface\_debug.lib
> 
> pcl\_tracking\_debug.lib
> 
> pcl\_visualization\_debug.lib
> 
> flann\_cpp\_s-gd.lib
> 
> flann\_s-gd.lib
> 
> flann-gd.lib
> 
> libboost\_atomic-vc140-mt-gd-1\_61.lib
> 
> libboost\_chrono-vc140-mt-gd-1\_61.lib
> 
> libboost\_container-vc140-mt-gd-1\_61.lib
> 
> libboost\_context-vc140-mt-gd-1\_61.lib
> 
> libboost\_coroutine-vc140-mt-gd-1\_61.lib
> 
> libboost\_date\_time-vc140-mt-gd-1\_61.lib
> 
> libboost\_exception-vc140-mt-gd-1\_61.lib
> 
> libboost\_filesystem-vc140-mt-gd-1\_61.lib
> 
> libboost\_graph-vc140-mt-gd-1\_61.lib
> 
> libboost\_iostreams-vc140-mt-gd-1\_61.lib
> 
> libboost\_locale-vc140-mt-gd-1\_61.lib
> 
> libboost\_log-vc140-mt-gd-1\_61.lib
> 
> libboost\_log\_setup-vc140-mt-gd-1\_61.lib
> 
> libboost\_math\_c99-vc140-mt-gd-1\_61.lib
> 
> libboost\_math\_c99f-vc140-mt-gd-1\_61.lib
> 
> libboost\_math\_c99l-vc140-mt-gd-1\_61.lib
> 
> libboost\_math\_tr1-vc140-mt-gd-1\_61.lib
> 
> libboost\_math\_tr1f-vc140-mt-gd-1\_61.lib
> 
> libboost\_math\_tr1l-vc140-mt-gd-1\_61.lib
> 
> libboost\_mpi-vc140-mt-gd-1\_61.lib
> 
> libboost\_prg\_exec\_monitor-vc140-mt-gd-1\_61.lib
> 
> libboost\_program\_options-vc140-mt-gd-1\_61.lib
> 
> libboost\_random-vc140-mt-gd-1\_61.lib
> 
> libboost\_regex-vc140-mt-gd-1\_61.lib
> 
> libboost\_serialization-vc140-mt-gd-1\_61.lib
> 
> libboost\_signals-vc140-mt-gd-1\_61.lib
> 
> libboost\_system-vc140-mt-gd-1\_61.lib
> 
> libboost\_test\_exec\_monitor-vc140-mt-gd-1\_61.lib
> 
> libboost\_thread-vc140-mt-gd-1\_61.lib
> 
> libboost\_timer-vc140-mt-gd-1\_61.lib
> 
> libboost\_unit\_test\_framework-vc140-mt-gd-1\_61.lib
> 
> libboost\_wave-vc140-mt-gd-1\_61.lib
> 
> libboost\_wserialization-vc140-mt-gd-1\_61.lib
> 
> qhull\_d.lib
> 
> qhull\_p\_d.lib
> 
> qhull\_r\_d.lib
> 
> qhullcpp\_d.lib
> 
> qhullstatic\_d.lib
> 
> qhullstatic\_r\_d.lib
> 
> vtkalglib-7.0-gd.lib
> 
> vtkChartsCore-7.0-gd.lib
> 
> vtkCommonColor-7.0-gd.lib
> 
> vtkCommonComputationalGeometry-7.0-gd.lib
> 
> vtkCommonCore-7.0-gd.lib
> 
> vtkCommonDataModel-7.0-gd.lib
> 
> vtkCommonExecutionModel-7.0-gd.lib
> 
> vtkCommonMath-7.0-gd.lib
> 
> vtkCommonMisc-7.0-gd.lib
> 
> vtkCommonSystem-7.0-gd.lib
> 
> vtkCommonTransforms-7.0-gd.lib
> 
> vtkDICOMParser-7.0-gd.lib
> 
> vtkDomainsChemistry-7.0-gd.lib
> 
> vtkexoIIc-7.0-gd.lib
> 
> vtkexpat-7.0-gd.lib
> 
> vtkFiltersAMR-7.0-gd.lib
> 
> vtkFiltersCore-7.0-gd.lib
> 
> vtkFiltersExtraction-7.0-gd.lib
> 
> vtkFiltersFlowPaths-7.0-gd.lib
> 
> vtkFiltersGeneral-7.0-gd.lib
> 
> vtkFiltersGeneric-7.0-gd.lib
> 
> vtkFiltersGeometry-7.0-gd.lib
> 
> vtkFiltersHybrid-7.0-gd.lib
> 
> vtkFiltersHyperTree-7.0-gd.lib
> 
> vtkFiltersImaging-7.0-gd.lib
> 
> vtkFiltersModeling-7.0-gd.lib
> 
> vtkFiltersParallel-7.0-gd.lib
> 
> vtkFiltersParallelImaging-7.0-gd.lib
> 
> vtkFiltersProgrammable-7.0-gd.lib
> 
> vtkFiltersSelection-7.0-gd.lib
> 
> vtkFiltersSMP-7.0-gd.lib
> 
> vtkFiltersSources-7.0-gd.lib
> 
> vtkFiltersStatistics-7.0-gd.lib
> 
> vtkFiltersTexture-7.0-gd.lib
> 
> vtkFiltersVerdict-7.0-gd.lib
> 
> vtkfreetype-7.0-gd.lib
> 
> vtkGeovisCore-7.0-gd.lib
> 
> vtkhdf5-7.0-gd.lib
> 
> vtkhdf5\_hl-7.0-gd.lib
> 
> vtkImagingColor-7.0-gd.lib
> 
> vtkImagingCore-7.0-gd.lib
> 
> vtkImagingFourier-7.0-gd.lib
> 
> vtkImagingGeneral-7.0-gd.lib
> 
> vtkImagingHybrid-7.0-gd.lib
> 
> vtkImagingMath-7.0-gd.lib
> 
> vtkImagingMorphological-7.0-gd.lib
> 
> vtkImagingSources-7.0-gd.lib
> 
> vtkImagingStatistics-7.0-gd.lib
> 
> vtkImagingStencil-7.0-gd.lib
> 
> vtkInfovisCore-7.0-gd.lib
> 
> vtkInfovisLayout-7.0-gd.lib
> 
> vtkInteractionImage-7.0-gd.lib
> 
> vtkInteractionStyle-7.0-gd.lib
> 
> vtkInteractionWidgets-7.0-gd.lib
> 
> vtkIOAMR-7.0-gd.lib
> 
> vtkIOCore-7.0-gd.lib
> 
> vtkIOEnSight-7.0-gd.lib
> 
> vtkIOExodus-7.0-gd.lib
> 
> vtkIOExport-7.0-gd.lib
> 
> vtkIOGeometry-7.0-gd.lib
> 
> vtkIOImage-7.0-gd.lib
> 
> vtkIOImport-7.0-gd.lib
> 
> vtkIOInfovis-7.0-gd.lib
> 
> vtkIOLegacy-7.0-gd.lib
> 
> vtkIOLSDyna-7.0-gd.lib
> 
> vtkIOMINC-7.0-gd.lib
> 
> vtkIOMovie-7.0-gd.lib
> 
> vtkIONetCDF-7.0-gd.lib
> 
> vtkIOParallel-7.0-gd.lib
> 
> vtkIOPLY-7.0-gd.lib
> 
> vtkIOSQL-7.0-gd.lib
> 
> vtkIOVideo-7.0-gd.lib
> 
> vtkIOXML-7.0-gd.lib
> 
> vtkIOXMLParser-7.0-gd.lib
> 
> vtkjpeg-7.0-gd.lib
> 
> vtkjsoncpp-7.0-gd.lib
> 
> vtklibxml2-7.0-gd.lib
> 
> vtkmetaio-7.0-gd.lib
> 
> vtkNetCDF-7.0-gd.lib
> 
> vtkNetCDF\_cxx-7.0-gd.lib
> 
> vtkoggtheora-7.0-gd.lib
> 
> vtkParallelCore-7.0-gd.lib
> 
> vtkpng-7.0-gd.lib
> 
> vtkproj4-7.0-gd.lib
> 
> vtkRenderingAnnotation-7.0-gd.lib
> 
> vtkRenderingContext2D-7.0-gd.lib
> 
> vtkRenderingCore-7.0-gd.lib
> 
> vtkRenderingFreeType-7.0-gd.lib
> 
> vtkRenderingImage-7.0-gd.lib
> 
> vtkRenderingLabel-7.0-gd.lib
> 
> vtkRenderingLOD-7.0-gd.lib
> 
> vtkRenderingVolume-7.0-gd.lib
> 
> vtksqlite-7.0-gd.lib
> 
> vtksys-7.0-gd.lib
> 
> vtktiff-7.0-gd.lib
> 
> vtkverdict-7.0-gd.lib
> 
> vtkViewsContext2D-7.0-gd.lib
> 
> vtkViewsCore-7.0-gd.lib
> 
> vtkViewsInfovis-7.0-gd.lib
> 
> vtkzlib-7.0-gd.lib
> 
> OpenNI2.lib

（2）Release模式下添加如下内容

> pcl\_common\_release.lib
> 
> pcl\_features\_release.lib
> 
> pcl\_filters\_release.lib
> 
> pcl\_io\_release.lib
> 
> pcl\_io\_ply\_release.lib
> 
> pcl\_kdtree\_release.lib
> 
> pcl\_keypoints\_release.lib
> 
> pcl\_ml\_release.lib
> 
> pcl\_octree\_release.lib
> 
> pcl\_outofcore\_release.lib
> 
> pcl\_people\_release.lib
> 
> pcl\_recognition\_release.lib
> 
> pcl\_registration\_release.lib
> 
> pcl\_sample\_consensus\_release.lib
> 
> pcl\_search\_release.lib
> 
> pcl\_segmentation\_release.lib
> 
> pcl\_stereo\_release.lib
> 
> pcl\_surface\_release.lib
> 
> pcl\_tracking\_release.lib
> 
> pcl\_visualization\_release.lib
> 
> flann\_cpp\_s.lib
> 
> flann\_s.lib
> 
> flann.lib
> 
> libboost\_atomic-vc140-mt-1\_61.lib
> 
> libboost\_chrono-vc140-mt-1\_61.lib
> 
> libboost\_container-vc140-mt-1\_61.lib
> 
> libboost\_context-vc140-mt-1\_61.lib
> 
> libboost\_coroutine-vc140-mt-1\_61.lib
> 
> libboost\_date\_time-vc140-mt-1\_61.lib
> 
> libboost\_exception-vc140-mt-1\_61.lib
> 
> libboost\_filesystem-vc140-mt-1\_61.lib
> 
> libboost\_graph-vc140-mt-1\_61.lib
> 
> libboost\_iostreams-vc140-mt-1\_61.lib
> 
> libboost\_locale-vc140-mt-1\_61.lib
> 
> libboost\_log-vc140-mt-1\_61.lib
> 
> libboost\_log\_setup-vc140-mt-1\_61.lib
> 
> libboost\_math\_c99-vc140-mt-1\_61.lib
> 
> libboost\_math\_c99f-vc140-mt-1\_61.lib
> 
> libboost\_math\_c99l-vc140-mt-1\_61.lib
> 
> libboost\_math\_tr1-vc140-mt-1\_61.lib
> 
> libboost\_math\_tr1f-vc140-mt-1\_61.lib
> 
> libboost\_math\_tr1l-vc140-mt-1\_61.lib
> 
> libboost\_mpi-vc140-mt-1\_61.lib
> 
> libboost\_prg\_exec\_monitor-vc140-mt-1\_61.lib
> 
> libboost\_program\_options-vc140-mt-1\_61.lib
> 
> libboost\_random-vc140-mt-1\_61.lib
> 
> libboost\_regex-vc140-mt-1\_61.lib
> 
> libboost\_serialization-vc140-mt-1\_61.lib
> 
> libboost\_signals-vc140-mt-1\_61.lib
> 
> libboost\_system-vc140-mt-1\_61.lib
> 
> libboost\_test\_exec\_monitor-vc140-mt-1\_61.lib
> 
> libboost\_thread-vc140-mt-1\_61.lib
> 
> libboost\_timer-vc140-mt-1\_61.lib
> 
> libboost\_unit\_test\_framework-vc140-mt-1\_61.lib
> 
> libboost\_wave-vc140-mt-1\_61.lib
> 
> libboost\_wserialization-vc140-mt-1\_61.lib
> 
> qhullstatic.lib
> 
> qhull.lib
> 
> qhull\_p.lib
> 
> qhull\_r.lib
> 
> qhullcpp.lib
> 
> qhullstatic\_r.lib
> 
> vtkalglib-7.0.lib
> 
> vtkChartsCore-7.0.lib
> 
> vtkCommonColor-7.0.lib
> 
> vtkCommonComputationalGeometry-7.0.lib
> 
> vtkCommonCore-7.0.lib
> 
> vtkCommonDataModel-7.0.lib
> 
> vtkCommonExecutionModel-7.0.lib
> 
> vtkCommonMath-7.0.lib
> 
> vtkCommonMisc-7.0.lib
> 
> vtkCommonSystem-7.0.lib
> 
> vtkCommonTransforms-7.0.lib
> 
> vtkDICOMParser-7.0.lib
> 
> vtkDomainsChemistry-7.0.lib
> 
> vtkexoIIc-7.0.lib
> 
> vtkexpat-7.0.lib
> 
> vtkFiltersAMR-7.0.lib
> 
> vtkFiltersCore-7.0.lib
> 
> vtkFiltersExtraction-7.0.lib
> 
> vtkFiltersFlowPaths-7.0.lib
> 
> vtkFiltersGeneral-7.0.lib
> 
> vtkFiltersGeneric-7.0.lib
> 
> vtkFiltersGeometry-7.0.lib
> 
> vtkFiltersHybrid-7.0.lib
> 
> vtkFiltersHyperTree-7.0.lib
> 
> vtkFiltersImaging-7.0.lib
> 
> vtkFiltersModeling-7.0.lib
> 
> vtkFiltersParallel-7.0.lib
> 
> vtkFiltersParallelImaging-7.0.lib
> 
> vtkFiltersProgrammable-7.0.lib
> 
> vtkFiltersSelection-7.0.lib
> 
> vtkFiltersSMP-7.0.lib
> 
> vtkFiltersSources-7.0.lib
> 
> vtkFiltersStatistics-7.0.lib
> 
> vtkFiltersTexture-7.0.lib
> 
> vtkFiltersVerdict-7.0.lib
> 
> vtkfreetype-7.0.lib
> 
> vtkGeovisCore-7.0.lib
> 
> vtkhdf5-7.0.lib
> 
> vtkhdf5\_hl-7.0.lib
> 
> vtkImagingColor-7.0.lib
> 
> vtkImagingCore-7.0.lib
> 
> vtkImagingFourier-7.0.lib
> 
> vtkImagingGeneral-7.0.lib
> 
> vtkImagingHybrid-7.0.lib
> 
> vtkImagingMath-7.0.lib
> 
> vtkImagingMorphological-7.0.lib
> 
> vtkImagingSources-7.0.lib
> 
> vtkImagingStatistics-7.0.lib
> 
> vtkImagingStencil-7.0.lib
> 
> vtkInfovisCore-7.0.lib
> 
> vtkInfovisLayout-7.0.lib
> 
> vtkInteractionImage-7.0.lib
> 
> vtkInteractionStyle-7.0.lib
> 
> vtkInteractionWidgets-7.0.lib
> 
> vtkIOAMR-7.0.lib
> 
> vtkIOCore-7.0.lib
> 
> vtkIOEnSight-7.0.lib
> 
> vtkIOExodus-7.0.lib
> 
> vtkIOExport-7.0.lib
> 
> vtkIOGeometry-7.0.lib
> 
> vtkIOImage-7.0.lib
> 
> vtkIOImport-7.0.lib
> 
> vtkIOInfovis-7.0.lib
> 
> vtkIOLegacy-7.0.lib
> 
> vtkIOLSDyna-7.0.lib
> 
> vtkIOMINC-7.0.lib
> 
> vtkIOMovie-7.0.lib
> 
> vtkIONetCDF-7.0.lib
> 
> vtkIOParallel-7.0.lib
> 
> vtkIOPLY-7.0.lib
> 
> vtkIOSQL-7.0.lib
> 
> vtkIOVideo-7.0.lib
> 
> vtkIOXML-7.0.lib
> 
> vtkIOXMLParser-7.0.lib
> 
> vtkjpeg-7.0.lib
> 
> vtkjsoncpp-7.0.lib
> 
> vtklibxml2-7.0.lib
> 
> vtkmetaio-7.0.lib
> 
> vtkNetCDF-7.0.lib
> 
> vtkNetCDF\_cxx-7.0.lib
> 
> vtkoggtheora-7.0.lib
> 
> vtkParallelCore-7.0.lib
> 
> vtkpng-7.0.lib
> 
> vtkproj4-7.0.lib
> 
> vtkRenderingAnnotation-7.0.lib
> 
> vtkRenderingContext2D-7.0.lib
> 
> vtkRenderingCore-7.0.lib
> 
> vtkRenderingFreeType-7.0.lib
> 
> vtkRenderingImage-7.0.lib
> 
> vtkRenderingLabel-7.0.lib
> 
> vtkRenderingLOD-7.0.lib
> 
> vtkRenderingVolume-7.0.lib
> 
> vtksqlite-7.0.lib
> 
> vtksys-7.0.lib
> 
> vtktiff-7.0.lib
> 
> vtkverdict-7.0.lib
> 
> vtkViewsContext2D-7.0.lib
> 
> vtkViewsCore-7.0.lib
> 
> vtkViewsInfovis-7.0.lib
> 
> vtkzlib-7.0.lib
> 
> OpenNI2.lib

**三、测试代码**

**1、代码**

#include <pcl/visualization/cloud_viewer.h>
    #include <pcl/io/pcd_io.h>
    using namespace std;
    
    int main() {
    
    	pcl::PCDReader reader;
    	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
    	reader.read("D:/tiebao.pcd", *cloud);
    
    	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
    	viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
    	while (!viewer->wasStopped())
    	{
    		viewer->spinOnce(100);
    		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    	}
    	system("pause");
    	return 0;
    }

## 2、执行结果 ##

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_26_color_FFFFFF_t_70][]

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_26_color_2FFF3F_t_70]: /images/20210516/477a2c769c7c408482433b4865a5cf5d.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_46_color_F4545F_t_40]: /images/20210516/20ebf9bb0245446ebd903ffd00870e43.png
[https_pan.baidu.com_s_1Jm_mGGp36u-nO4MLdt0PTQ]: https://pan.baidu.com/s/1Jm_mGGp36u-nO4MLdt0PTQ
[20190306075822350.png]: /images/20210516/219d91eb60c848c0941c0a4d04bb5814.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_16_color_FFFFFF_t_70]: /images/20210516/c2647b2aa94b4a7fa3f3cdd13101ecf2.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_16_color_FFFFFF_t_70 1]: /images/20210516/2eda41e477d14944af14aa7c6beb4b7e.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_16_color_FFFFFF_t_70 2]: /images/20210516/70fccc53e4204249877323c8014886a1.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_16_color_FFFFFF_t_70 3]: /images/20210516/f7ee2c416c384a62a389590d4d19e488.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_16_color_FFFFFF_t_70 4]: /images/20210516/713e85d58c6f4883879ede7b65ee6624.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_46_color_2121FF_t_70]: /images/20210516/298e9c00d22c4213a0b6a95e5821fe8e.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NodWl5aXhpbg_size_26_color_FFFFFF_t_70]: /images/20210516/5ce57635dc1c4b0491491a1711391c3b.png