pcl+opencv+vs2013



#include <pcl/visualization/cloud_viewer.h> 
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include<opencv2\highgui\highgui.hpp>
#include<opencv2\imgproc\imgproc.hpp>

int user_data;

void viewerOneOff (pcl::visualization::PCLVisualizer& viewer) 
{ 
    viewer.setBackgroundColor (0.0, 0.0, 0.0); 
} 
     
void viewerPsycho (pcl::visualization::PCLVisualizer& viewer) 
{ 
    user_data = 9; 
} 
     
int main () 
{ 
    pcl::PointCloud<pcl::PointXYZRGB> cloud_a; 
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>); 

 
    cv::Mat image = cv::imread("1.jpg"); 
 cv::imshow("1", image);
 cv::waitKey(0);
 if (image.empty())
 {
  return 0;
 }

 
    int rowNumber = image.rows; 
    int colNumber = image.cols; 
 
    cloud_a.width  = rowNumber; 
    cloud_a.height = colNumber; 
    cloud_a.points.resize(cloud_a.width*cloud_a.height); 
 
    cv::Mat_<cv::Vec3b>::iterator it    = image.begin<cv::Vec3b>(); 
    cv::Mat_<cv::Vec3b>::iterator itend = image.end<cv::Vec3b>(); 
 
    for(unsigned int i=0; i<cloud_a.points.size(); ++i) 
    { 
        cloud_a.points[i].x = 1024*rand()/(RAND_MAX+1.0f); 
        cloud_a.points[i].y = 1024*rand()/(RAND_MAX+1.0f); 
        cloud_a.points[i].z = 1024*rand()/(RAND_MAX+1.0f); 
 
        cloud_a.points[i].r = (int) (*it)[2]; 
        cloud_a.points[i].g = (int) (*it)[1]; 
        cloud_a.points[i].b = (int) (*it)[0]; 
 
        ++it; 
    } 
 
    *cloud = cloud_a; 
 
    pcl::visualization::CloudViewer viewer("Cloud Viewer");     
 
    viewer.showCloud(cloud); 
 
    viewer.runOnVisualizationThreadOnce (viewerOneOff); 
 
    viewer.runOnVisualizationThread (viewerPsycho); 
 
    while (!viewer.wasStopped ()) 
    { 
        user_data = 9; 
    } 
 
    return 0; 
} 
//release 的依赖项也被添加进去了，造成了imread读不进去图片，一直报错

    cv::Mat_<cv::Vec3b>::iterator it    = image.begin<cv::Vec3b>(); 
    cv::Mat_<cv::Vec3b>::iterator itend = image.end<cv::Vec3b>(); 这两句出错的地方