PCL 1.8.1+VS2017吐血配置成功

一直在做点云相关内容，虽然PCL库很方便，但配置起来太麻烦了，一开始尝试几次都没有成功，很搞心态。直到今天，还是在生日当天，终于配置成功了呜呜，流下了激动的泪水，这真的是最棒的礼物了，所以马不停蹄的记录一下。

其实其他博客对相关步骤说明的已经很清晰了，但跟着配置下来总会出现各种各样的问题，很大程度上是安装目录、版本等不同导致的，所以要真正明白每一步骤的作用并耐心一一解决出现的bug。

接下来就简要梳理下核心步骤，主要是对整个安装过程有个宏观了解。

一、通过安装包安装PCL

链接：https://pan.baidu.com/s/1vWjaGcr7c1XBSdaSD3FsEg 
提取码：o9st 

在百度网盘里有PCL1.8.1的安装程序以及PDB文件

其他版本也可在此处下载：Releases · PointCloudLibrary/pcl · GitHub

win10系统下 VS2019点云库PCL1.12.0的安装与配置_苦瓜王子的博客-CSDN博客_pcl库下载

我安装的目录在D:\Program Files\PCL 1.8.1，安装步骤按照弹出的默认来即可，其中以下步骤要勾选第二项添加路径

 安装过程中会弹出OpenNI的安装程序，要安装在D:\Program Files\PCL 1.8.1\3rdParty\OpenNI2目录下

全部安装完成后目录文件分布如下所示。

添加PDB文件，将PDB文件解压复制到D:\Program Files\PCL 1.8.1\bin目录下，最终为246个文件。

二、配置电脑环境变量

在计算机属性里的高级系统设置里的环境变量中进行设置。

添加以下内容（最好再和自己的目录对应下，看看这些文件是否都存在）：

D:\Program Files\PCL 1.8.1\bin

D:\Program Files\PCL 1.8.1\3rdParty\FLANN\bin

D:\Program Files\PCL 1.8.1\3rdParty\Qhull\bin

D:\Program Files\PCL 1.8.1\3rdParty\VTK\bin

D:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Tools

添加完之后要重启！

三、配置VS2017

在vs2017中添加属性表，在属性表的属性中进行设置。

将以下路径添加到VC++目录的包含目录：

D:\Program Files\PCL 1.8.1\include\pcl-1.8

D:\Program Files\PCL 1.8.1\3rdParty\Boost\include\boost-1_64

D:\Program Files\PCL 1.8.1\3rdParty\Eigen\eigen3

D:\Program Files\PCL 1.8.1\3rdParty\FLANN\include

D:\Program Files\PCL 1.8.1\3rdParty\Qhull\include

D:\Program Files\PCL 1.8.1\3rdParty\VTK\include\vtk-8.0

D:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Include

将以下路径添加到VC++目录的库目录：

D:\Program Files\PCL 1.8.1\lib

D:\Program Files\PCL 1.8.1\3rdParty\FLANN\lib

D:\Program Files\PCL 1.8.1\3rdParty\Boost\lib

D:\Program Files\PCL 1.8.1\3rdParty\Qhull\lib

D:\Program Files\PCL 1.8.1\3rdParty\VTK\lib

D:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Lib

在预处理器定义中输入以下命令：

_SCL_SECURE_NO_WARNINGS

_CRT_SECURE_NO_WARNINGS

如果安装在VS2019版本中，命令如下：

vs2019配置PCL1-8-1（windows）_zh小辣鸡的博客-CSDN博客_pcl vs2019配置

_CRT_SECURE_NO_WARNINGS
BOOST_ALL_NO_LIB
BOOST_USE_WINDOWS_H
NOMINMAX
_SCL_SECURE_NO_WARNINGS
_SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING

在附加依赖项中添加以下命令，可以自己生成，也可以直接用下方整理好的

（1）自己生成

先把各个库的debug版和release版的lib分别复制到两个不同的文件夹，再通过cmd来生成文件名列表，生成文件名列表的方法如下：

win+r调出“运行”窗口并输出cmd
输入：cd /d D:\ debug_version  回车 （以放debug版的lib文件夹为例）
输出：dir /b *.lib>1.txt 
在文件夹下可看见一个txt，打开即可复制。

lib文件所在位置如下，其中debug模式下共有185个文件，release模式下共有186个文件（多了OpenNI2里的OpenNI2.lib），最后需要分别再添加opengl32.lib，可以减少一些隐藏错误。

带-gd的和带d的为debug模式，不带的为release模式。

详细提取文件名步骤参考：PCL安装与配置 - 一杯明月 - 博客园

（2）整理好的

debug模式：

pcl_common_debug.lib

pcl_features_debug.lib

pcl_filters_debug.lib

pcl_io_ply_debug.lib

pcl_io_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

libboost_atomic-vc141-mt-gd-1_64.lib

libboost_bzip2-vc141-mt-gd-1_64.lib

libboost_chrono-vc141-mt-gd-1_64.lib

libboost_container-vc141-mt-gd-1_64.lib

libboost_context-vc141-mt-gd-1_64.lib

libboost_coroutine-vc141-mt-gd-1_64.lib

libboost_date_time-vc141-mt-gd-1_64.lib

libboost_exception-vc141-mt-gd-1_64.lib

libboost_fiber-vc141-mt-gd-1_64.lib

libboost_filesystem-vc141-mt-gd-1_64.lib

libboost_graph-vc141-mt-gd-1_64.lib

libboost_graph_parallel-vc141-mt-gd-1_64.lib

libboost_iostreams-vc141-mt-gd-1_64.lib

libboost_locale-vc141-mt-gd-1_64.lib

libboost_log-vc141-mt-gd-1_64.lib

libboost_log_setup-vc141-mt-gd-1_64.lib

libboost_math_c99-vc141-mt-gd-1_64.lib

libboost_math_c99f-vc141-mt-gd-1_64.lib

libboost_math_c99l-vc141-mt-gd-1_64.lib

libboost_math_tr1-vc141-mt-gd-1_64.lib

libboost_math_tr1f-vc141-mt-gd-1_64.lib

libboost_math_tr1l-vc141-mt-gd-1_64.lib

libboost_mpi-vc141-mt-gd-1_64.lib

libboost_numpy3-vc141-mt-gd-1_64.lib

libboost_numpy-vc141-mt-gd-1_64.lib

libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib

libboost_program_options-vc141-mt-gd-1_64.lib

libboost_python3-vc141-mt-gd-1_64.lib

libboost_python-vc141-mt-gd-1_64.lib

libboost_random-vc141-mt-gd-1_64.lib

libboost_regex-vc141-mt-gd-1_64.lib

libboost_serialization-vc141-mt-gd-1_64.lib

libboost_signals-vc141-mt-gd-1_64.lib

libboost_system-vc141-mt-gd-1_64.lib

libboost_test_exec_monitor-vc141-mt-gd-1_64.lib

libboost_thread-vc141-mt-gd-1_64.lib

libboost_timer-vc141-mt-gd-1_64.lib

libboost_type_erasure-vc141-mt-gd-1_64.lib

libboost_unit_test_framework-vc141-mt-gd-1_64.lib

libboost_wave-vc141-mt-gd-1_64.lib

libboost_wserialization-vc141-mt-gd-1_64.lib

libboost_zlib-vc141-mt-gd-1_64.lib

flann-gd.lib

flann_cpp-gd.lib

flann_cpp_s-gd.lib

flann_s-gd.lib

qhull_d.lib

qhullcpp_d.lib

qhullstatic_d.lib

qhullstatic_r_d.lib

qhull_p_d.lib

qhull_r_d.lib

vtkalglib-8.0-gd.lib

vtkChartsCore-8.0-gd.lib

vtkCommonColor-8.0-gd.lib

vtkCommonComputationalGeometry-8.0-gd.lib

vtkCommonCore-8.0-gd.lib

vtkCommonDataModel-8.0-gd.lib

vtkCommonExecutionModel-8.0-gd.lib

vtkCommonMath-8.0-gd.lib

vtkCommonMisc-8.0-gd.lib

vtkCommonSystem-8.0-gd.lib

vtkCommonTransforms-8.0-gd.lib

vtkDICOMParser-8.0-gd.lib

vtkDomainsChemistry-8.0-gd.lib

vtkexoIIc-8.0-gd.lib

vtkexpat-8.0-gd.lib

vtkFiltersAMR-8.0-gd.lib

vtkFiltersCore-8.0-gd.lib

vtkFiltersExtraction-8.0-gd.lib

vtkFiltersFlowPaths-8.0-gd.lib

vtkFiltersGeneral-8.0-gd.lib

vtkFiltersGeneric-8.0-gd.lib

vtkFiltersGeometry-8.0-gd.lib

vtkFiltersHybrid-8.0-gd.lib

vtkFiltersHyperTree-8.0-gd.lib

vtkFiltersImaging-8.0-gd.lib

vtkFiltersModeling-8.0-gd.lib

vtkFiltersParallel-8.0-gd.lib

vtkFiltersParallelImaging-8.0-gd.lib

vtkFiltersPoints-8.0-gd.lib

vtkFiltersProgrammable-8.0-gd.lib

vtkFiltersSelection-8.0-gd.lib

vtkFiltersSMP-8.0-gd.lib

vtkFiltersSources-8.0-gd.lib

vtkFiltersStatistics-8.0-gd.lib

vtkFiltersTexture-8.0-gd.lib

vtkFiltersTopology-8.0-gd.lib

vtkFiltersVerdict-8.0-gd.lib

vtkfreetype-8.0-gd.lib

vtkGeovisCore-8.0-gd.lib

vtkgl2ps-8.0-gd.lib

vtkhdf5-8.0-gd.lib

vtkhdf5_hl-8.0-gd.lib

vtkImagingColor-8.0-gd.lib

vtkImagingCore-8.0-gd.lib

vtkImagingFourier-8.0-gd.lib

vtkImagingGeneral-8.0-gd.lib

vtkImagingHybrid-8.0-gd.lib

vtkImagingMath-8.0-gd.lib

vtkImagingMorphological-8.0-gd.lib

vtkImagingSources-8.0-gd.lib

vtkImagingStatistics-8.0-gd.lib

vtkImagingStencil-8.0-gd.lib

vtkInfovisCore-8.0-gd.lib

vtkInfovisLayout-8.0-gd.lib

vtkInteractionImage-8.0-gd.lib

vtkInteractionStyle-8.0-gd.lib

vtkInteractionWidgets-8.0-gd.lib

vtkIOAMR-8.0-gd.lib

vtkIOCore-8.0-gd.lib

vtkIOEnSight-8.0-gd.lib

vtkIOExodus-8.0-gd.lib

vtkIOExport-8.0-gd.lib

vtkIOExportOpenGL-8.0-gd.lib

vtkIOGeometry-8.0-gd.lib

vtkIOImage-8.0-gd.lib

vtkIOImport-8.0-gd.lib

vtkIOInfovis-8.0-gd.lib

vtkIOLegacy-8.0-gd.lib

vtkIOLSDyna-8.0-gd.lib

vtkIOMINC-8.0-gd.lib

vtkIOMovie-8.0-gd.lib

vtkIONetCDF-8.0-gd.lib

vtkIOParallel-8.0-gd.lib

vtkIOParallelXML-8.0-gd.lib

vtkIOPLY-8.0-gd.lib

vtkIOSQL-8.0-gd.lib

vtkIOTecplotTable-8.0-gd.lib

vtkIOVideo-8.0-gd.lib

vtkIOXML-8.0-gd.lib

vtkIOXMLParser-8.0-gd.lib

vtkjpeg-8.0-gd.lib

vtkjsoncpp-8.0-gd.lib

vtklibharu-8.0-gd.lib

vtklibxml2-8.0-gd.lib

vtklz4-8.0-gd.lib

vtkmetaio-8.0-gd.lib

vtkNetCDF-8.0-gd.lib

vtkoggtheora-8.0-gd.lib

vtkParallelCore-8.0-gd.lib

vtkpng-8.0-gd.lib

vtkproj4-8.0-gd.lib

vtkRenderingAnnotation-8.0-gd.lib

vtkRenderingContext2D-8.0-gd.lib

vtkRenderingContextOpenGL-8.0-gd.lib

vtkRenderingCore-8.0-gd.lib

vtkRenderingFreeType-8.0-gd.lib

vtkRenderingGL2PS-8.0-gd.lib

vtkRenderingImage-8.0-gd.lib

vtkRenderingLabel-8.0-gd.lib

vtkRenderingLIC-8.0-gd.lib

vtkRenderingLOD-8.0-gd.lib

vtkRenderingOpenGL-8.0-gd.lib

vtkRenderingVolume-8.0-gd.lib

vtkRenderingVolumeOpenGL-8.0-gd.lib

vtksqlite-8.0-gd.lib

vtksys-8.0-gd.lib

vtktiff-8.0-gd.lib

vtkverdict-8.0-gd.lib

vtkViewsContext2D-8.0-gd.lib

vtkViewsCore-8.0-gd.lib

vtkViewsInfovis-8.0-gd.lib

vtkzlib-8.0-gd.lib

vtknetcdf_c++-gd.lib

opengl32.lib

release模式：

flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_s.lib
libboost_atomic-vc141-mt-1_64.lib
libboost_bzip2-vc141-mt-1_64.lib
libboost_chrono-vc141-mt-1_64.lib
libboost_container-vc141-mt-1_64.lib
libboost_context-vc141-mt-1_64.lib
libboost_coroutine-vc141-mt-1_64.lib
libboost_date_time-vc141-mt-1_64.lib
libboost_exception-vc141-mt-1_64.lib
libboost_fiber-vc141-mt-1_64.lib
libboost_filesystem-vc141-mt-1_64.lib
libboost_graph-vc141-mt-1_64.lib
libboost_graph_parallel-vc141-mt-1_64.lib
libboost_iostreams-vc141-mt-1_64.lib
libboost_locale-vc141-mt-1_64.lib
libboost_log-vc141-mt-1_64.lib
libboost_log_setup-vc141-mt-1_64.lib
libboost_math_c99-vc141-mt-1_64.lib
libboost_math_c99f-vc141-mt-1_64.lib
libboost_math_c99l-vc141-mt-1_64.lib
libboost_math_tr1-vc141-mt-1_64.lib
libboost_math_tr1f-vc141-mt-1_64.lib
libboost_math_tr1l-vc141-mt-1_64.lib
libboost_mpi-vc141-mt-1_64.lib
libboost_numpy-vc141-mt-1_64.lib
libboost_numpy3-vc141-mt-1_64.lib
libboost_prg_exec_monitor-vc141-mt-1_64.lib
libboost_program_options-vc141-mt-1_64.lib
libboost_python-vc141-mt-1_64.lib
libboost_python3-vc141-mt-1_64.lib
libboost_random-vc141-mt-1_64.lib
libboost_regex-vc141-mt-1_64.lib
libboost_serialization-vc141-mt-1_64.lib
libboost_signals-vc141-mt-1_64.lib
libboost_system-vc141-mt-1_64.lib
libboost_test_exec_monitor-vc141-mt-1_64.lib
libboost_thread-vc141-mt-1_64.lib
libboost_timer-vc141-mt-1_64.lib
libboost_type_erasure-vc141-mt-1_64.lib
libboost_unit_test_framework-vc141-mt-1_64.lib
libboost_wave-vc141-mt-1_64.lib
libboost_wserialization-vc141-mt-1_64.lib
libboost_zlib-vc141-mt-1_64.lib
OpenNI2.lib
pcl_common_release.lib
pcl_features_release.lib
pcl_filters_release.lib
pcl_io_ply_release.lib
pcl_io_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
qhull.lib
qhullcpp.lib
qhullstatic.lib
qhullstatic_r.lib
qhull_p.lib
qhull_r.lib
vtkalglib-8.0.lib
vtkChartsCore-8.0.lib
vtkCommonColor-8.0.lib
vtkCommonComputationalGeometry-8.0.lib
vtkCommonCore-8.0.lib
vtkCommonDataModel-8.0.lib
vtkCommonExecutionModel-8.0.lib
vtkCommonMath-8.0.lib
vtkCommonMisc-8.0.lib
vtkCommonSystem-8.0.lib
vtkCommonTransforms-8.0.lib
vtkDICOMParser-8.0.lib
vtkDomainsChemistry-8.0.lib
vtkexoIIc-8.0.lib
vtkexpat-8.0.lib
vtkFiltersAMR-8.0.lib
vtkFiltersCore-8.0.lib
vtkFiltersExtraction-8.0.lib
vtkFiltersFlowPaths-8.0.lib
vtkFiltersGeneral-8.0.lib
vtkFiltersGeneric-8.0.lib
vtkFiltersGeometry-8.0.lib
vtkFiltersHybrid-8.0.lib
vtkFiltersHyperTree-8.0.lib
vtkFiltersImaging-8.0.lib
vtkFiltersModeling-8.0.lib
vtkFiltersParallel-8.0.lib
vtkFiltersParallelImaging-8.0.lib
vtkFiltersPoints-8.0.lib
vtkFiltersProgrammable-8.0.lib
vtkFiltersSelection-8.0.lib
vtkFiltersSMP-8.0.lib
vtkFiltersSources-8.0.lib
vtkFiltersStatistics-8.0.lib
vtkFiltersTexture-8.0.lib
vtkFiltersTopology-8.0.lib
vtkFiltersVerdict-8.0.lib
vtkfreetype-8.0.lib
vtkGeovisCore-8.0.lib
vtkgl2ps-8.0.lib
vtkhdf5-8.0.lib
vtkhdf5_hl-8.0.lib
vtkImagingColor-8.0.lib
vtkImagingCore-8.0.lib
vtkImagingFourier-8.0.lib
vtkImagingGeneral-8.0.lib
vtkImagingHybrid-8.0.lib
vtkImagingMath-8.0.lib
vtkImagingMorphological-8.0.lib
vtkImagingSources-8.0.lib
vtkImagingStatistics-8.0.lib
vtkImagingStencil-8.0.lib
vtkInfovisCore-8.0.lib
vtkInfovisLayout-8.0.lib
vtkInteractionImage-8.0.lib
vtkInteractionStyle-8.0.lib
vtkInteractionWidgets-8.0.lib
vtkIOAMR-8.0.lib
vtkIOCore-8.0.lib
vtkIOEnSight-8.0.lib
vtkIOExodus-8.0.lib
vtkIOExport-8.0.lib
vtkIOExportOpenGL-8.0.lib
vtkIOGeometry-8.0.lib
vtkIOImage-8.0.lib
vtkIOImport-8.0.lib
vtkIOInfovis-8.0.lib
vtkIOLegacy-8.0.lib
vtkIOLSDyna-8.0.lib
vtkIOMINC-8.0.lib
vtkIOMovie-8.0.lib
vtkIONetCDF-8.0.lib
vtkIOParallel-8.0.lib
vtkIOParallelXML-8.0.lib
vtkIOPLY-8.0.lib
vtkIOSQL-8.0.lib
vtkIOTecplotTable-8.0.lib
vtkIOVideo-8.0.lib
vtkIOXML-8.0.lib
vtkIOXMLParser-8.0.lib
vtkjpeg-8.0.lib
vtkjsoncpp-8.0.lib
vtklibharu-8.0.lib
vtklibxml2-8.0.lib
vtklz4-8.0.lib
vtkmetaio-8.0.lib
vtkNetCDF-8.0.lib
vtknetcdf_c++.lib
vtkoggtheora-8.0.lib
vtkParallelCore-8.0.lib
vtkpng-8.0.lib
vtkproj4-8.0.lib
vtkRenderingAnnotation-8.0.lib
vtkRenderingContext2D-8.0.lib
vtkRenderingContextOpenGL-8.0.lib
vtkRenderingCore-8.0.lib
vtkRenderingFreeType-8.0.lib
vtkRenderingGL2PS-8.0.lib
vtkRenderingImage-8.0.lib
vtkRenderingLabel-8.0.lib
vtkRenderingLIC-8.0.lib
vtkRenderingLOD-8.0.lib
vtkRenderingOpenGL-8.0.lib
vtkRenderingVolume-8.0.lib
vtkRenderingVolumeOpenGL-8.0.lib
vtksqlite-8.0.lib
vtksys-8.0.lib
vtktiff-8.0.lib
vtkverdict-8.0.lib
vtkViewsContext2D-8.0.lib
vtkViewsCore-8.0.lib
vtkViewsInfovis-8.0.lib
vtkzlib-8.0.lib
opengl32.lib
gdi32.lib
User32.lib

四、一些问题

 在vs2022配置1.13版本

(30条消息) Win10 系统下VisualStudio2022 配置点云库 PCL 1.13.0_胖胖12138的博客-CSDN博客

win+vs2022+pcl 1.13.0 all in one 安装 - 赛博坦的bimer - 博客园 (cnblogs.com)

1.项目解决方案配置需设置为Debug X64

2.遇到“error C4996:pcl::SAC_SAMPLE_SIZE”的解决办法：SDL检查需设置为否

2.遇到“pop_t找不到标识符”的解决办法：打开dist.h文件，将503行的typedef unsigned long long pop_t;移到#if GNUC一行的前面。

3.遇到C2988:“不可识别的模板声明/定义”的解决办法：打开typeof_impl.hpp文件，将以下几行代码注释掉。

4.遇到错误 C4996 ‘std::fpos<_Mbstatet>::seekpos’: warning STL4019: The member std::fpos::seekpos() is non-Standard, and is preserved only for compatibility with workarounds for old versions of Visual C++.的解决办法：

预处理项中添加_SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING

5.请确认Import中声明的路径是否正确

配置完属性表，在移植时又可能出现不对应的情况

(5条消息) vs未找到导入的项目，请确认 <Import> 声明中的路径正确_jenny_84的博客-CSDN博客

五、测试代码

#include <iostream>
#include <pcl/point_cloud.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>

int main(int argc, char**argv)
{
	srand(time(NULL));						//用系统时间初始化随机种子
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	//点云生成
	cloud->width = 1000;					//点云数量
	cloud->height = 1;						//表示点云为无序点云
	cloud->points.resize(cloud->width * cloud->height);
	for (size_t i = 0; i < cloud->points.size(); ++i)
	{
		cloud->points[i].x = 1024.0f* rand() / (RAND_MAX + 1.0f);
		cloud->points[i].y = 1024.0f* rand() / (RAND_MAX + 1.0f);
		cloud->points[i].z = 1024.0f* rand() / (RAND_MAX + 1.0f);
	}
	pcl::KdTreeFLANN<pcl::PointXYZ>kdtree;	//创建K-D Tree 对象
	kdtree.setInputCloud(cloud);			//设置搜索空间
	pcl::PointXYZ searchPoint;				//定义查询点，并赋随机值
	searchPoint.x = 1024.0f* rand() / (RAND_MAX + 1.0f);
	searchPoint.y = 1024.0f* rand() / (RAND_MAX + 1.0f);
	searchPoint.z = 1024.0f* rand() / (RAND_MAX + 1.0f);
	// k近邻搜索
	int K = 10;
	std::vector<int>pointIdxNKNSearch(K);			//存储查询点近邻索引
	std::vector<float>pointNKNSquaredDistance(K);	//存储近邻点对应平方距离
	std::cout << "K nearest neighbor search at ("
		<< searchPoint.x
		<< " " << searchPoint.y
		<< " " << searchPoint.z
		<< ") with K=" << K << std::endl;
	if (kdtree.nearestKSearch(searchPoint, K, pointIdxNKNSearch, pointNKNSquaredDistance) > 0)	//执行K近邻搜索
	{
		for (size_t i = 0; i < pointIdxNKNSearch.size(); ++i)
			std::cout << "    " << cloud->points[pointIdxNKNSearch[i]].x
			<< " " << cloud->points[pointIdxNKNSearch[i]].y
			<< " " << cloud->points[pointIdxNKNSearch[i]].z
			<< " (squared distance: " << pointNKNSquaredDistance[i] << ")" << std::endl;
	}
	// 在半径r内搜索近邻
	std::vector<int> pointIdxRadiusSearch;
	std::vector<float> pointRadiusSquaredDistance;
	float radius = 156;
	std::cout << "Neighbors within radius search at (" << searchPoint.x
		<< " " << searchPoint.y
		<< " " << searchPoint.z
		<< ") with radius=" << radius << std::endl;
	if (kdtree.radiusSearch(searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance) > 0)
	{
		for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i)
			std::cout << "    " << cloud->points[pointIdxRadiusSearch[i]].x
			<< " " << cloud->points[pointIdxRadiusSearch[i]].y
			<< " " << cloud->points[pointIdxRadiusSearch[i]].z
			<< " (squared distance: " << pointRadiusSquaredDistance[i] << ")" << std::endl;
	}

	pcl::io::savePCDFileASCII("1.pcd", *cloud);	//保存点云

	std::cerr << "Saved " << cloud->points.size() << " data points to 1.pcd." << std::endl;	//输出保存点的个数

	//输出保存点的坐标
	for (size_t i = 0; i < cloud->points.size(); ++i)
		std::cerr << "    " << cloud->points[i].x << " " << cloud->points[i].y << " " << cloud->points[i].z << std::endl;
	//可视化生成点云
	pcl::visualization::CloudViewer viewer("Cloud Viewer");
	viewer.showCloud(cloud);
	while (!viewer.wasStopped())
	{
	
	}
	return 0;
}