[setPointCloudRenderingProperties] Could not find any PointCloud datasets with id ＜XXX＞!

错误：

一般创建的点云数据都命名为cloud，因为我这里有两组点云数据，要区分一下，所以把点云数据命名为cloud1和cloud2，下面是cloud2的显示代码

viewer2->setRepresentationToWireframeForAllActors();
viewer2->addPointCloud(cloud2);
viewer2->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud2");
viewer2->spinOnce(1);
viewer2->removeAllPointClouds();
viewer2->removeAllShapes();

运行后的出错

[setPointCloudRenderingProperties] Could not find any PointCloud datasets with id <cloud2>!

原因：

addPointCloud()默认的点云数据标签是id=“cloud”，上面代码添加了点云数据cloud2，但没有将默认的cloud标签改为id=“cloud2”，所以找不到cloud2的点云数据

addPointCloud (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud,

               const std::string &id = "cloud", int viewport = 0)

改正：

viewer2->setRepresentationToWireframeForAllActors();
viewer2->addPointCloud(cloud2,"cloud2");
viewer2->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud2");
viewer2->spinOnce(1);
viewer2->removeAllPointClouds();
viewer2->removeAllShapes();