pcl使用入門

最近在學習pcl，C++早就忘記了，因此踩了好些坑

不過終於經過了，特此記錄下來

環境：win7+pcl1.81+vs2015

1.安裝pcl1.81

下載PCL-1.8.1-AllInOne-msvc2015-win64.exe

連接：https://pan.baidu.com/s/1wikg-6uNeBdJf2Ra2EA2fA
提取碼：j88f 

安裝一直下一步，在彈出OpenNI的安裝程序

　　將OpenNI的安裝路徑設置爲「PCL_ROOT」下3rdParty\OpenNI2文件夾，如C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2

　　說明：

　　　　安裝結束後若提示「路徑過長沒法添加環境變量」，須要手動加上環境變量

set PCL_ROOT=C:\Program Files\PCL 1.8.1
set OPENNI2_INCLUDE64=C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Include
set OPENNI2_LIB64=C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Lib
set OPENNI2_REDIST64=C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Redist
set path=%path%;%PCL_ROOT%\bin\;C:\Program Files\PCL 1.8.1\3rdParty\OpenNI2\Tools;C:\Program Files\PCL 1.8.1\3rdParty\VTK\bin;

2.應用

　　（1）建立工程pcl

　　文件—》新建—》項目

　　（2）配置，調試—》pcl屬性

　　　　A.配置屬性—》調試—》環境

　　　　　　path = C:\Program Files\PCL 1.8.1\bin

　

　　　　B.配置屬性—》C/C++—》預處理器

　　　　追加

_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS
PCL_NO_PRECOMPILE

　　　　C.配置屬性—》VC++目錄—》包含目錄

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

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

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

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

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

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

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

　　　　D.配置屬性—》VC++目錄—》庫目錄　　

　　　　　　C:\Program Files\PCL 1.8.1\lib

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

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

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

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

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

　

 　　　　E.配置屬性—》連接器—》附加依賴項

　　　　在Debug模式

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
libboost_atomic-vc140-mt-gd-1_64.lib
libboost_chrono-vc140-mt-gd-1_64.lib
libboost_container-vc140-mt-gd-1_64.lib
libboost_context-vc140-mt-gd-1_64.lib
libboost_coroutine-vc140-mt-gd-1_64.lib
libboost_date_time-vc140-mt-gd-1_64.lib
libboost_exception-vc140-mt-gd-1_64.lib
libboost_filesystem-vc140-mt-gd-1_64.lib
libboost_graph-vc140-mt-gd-1_64.lib
libboost_iostreams-vc140-mt-gd-1_64.lib
libboost_locale-vc140-mt-gd-1_64.lib
libboost_log-vc140-mt-gd-1_64.lib
libboost_log_setup-vc140-mt-gd-1_64.lib
libboost_math_c99-vc140-mt-gd-1_64.lib
libboost_math_c99f-vc140-mt-gd-1_64.lib
libboost_math_c99l-vc140-mt-gd-1_64.lib
libboost_math_tr1-vc140-mt-gd-1_64.lib
libboost_math_tr1f-vc140-mt-gd-1_64.lib
libboost_math_tr1l-vc140-mt-gd-1_64.lib
libboost_mpi-vc140-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc140-mt-gd-1_64.lib
libboost_program_options-vc140-mt-gd-1_64.lib
libboost_random-vc140-mt-gd-1_64.lib
libboost_regex-vc140-mt-gd-1_64.lib
libboost_serialization-vc140-mt-gd-1_64.lib
libboost_signals-vc140-mt-gd-1_64.lib
libboost_system-vc140-mt-gd-1_64.lib
libboost_test_exec_monitor-vc140-mt-gd-1_64.lib
libboost_thread-vc140-mt-gd-1_64.lib
libboost_timer-vc140-mt-gd-1_64.lib
libboost_unit_test_framework-vc140-mt-gd-1_64.lib
libboost_wave-vc140-mt-gd-1_64.lib
libboost_wserialization-vc140-mt-gd-1_64.lib
flann-gd.lib
flann_s-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
qhull_d.lib
qhull_p_d.lib
qhull_r_d.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_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_c++-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
OpenNI2.lib

View Content

　　　　在Release模式

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
libboost_atomic-vc140-mt-1_64.lib
libboost_chrono-vc140-mt-1_64.lib
libboost_container-vc140-mt-1_64.lib
libboost_context-vc140-mt-1_64.lib
libboost_coroutine-vc140-mt-1_64.lib
libboost_date_time-vc140-mt-1_64.lib
libboost_exception-vc140-mt-1_64.lib
libboost_filesystem-vc140-mt-1_64.lib
libboost_graph-vc140-mt-1_64.lib
libboost_iostreams-vc140-mt-1_64.lib
libboost_locale-vc140-mt-1_64.lib
libboost_log-vc140-mt-1_64.lib
libboost_log_setup-vc140-mt-1_64.lib
libboost_math_c99-vc140-mt-1_64.lib
libboost_math_c99f-vc140-mt-1_64.lib
libboost_math_c99l-vc140-mt-1_64.lib
libboost_math_tr1-vc140-mt-1_64.lib
libboost_math_tr1f-vc140-mt-1_64.lib
libboost_math_tr1l-vc140-mt-1_64.lib
libboost_mpi-vc140-mt-1_64.lib
libboost_prg_exec_monitor-vc140-mt-1_64.lib
libboost_program_options-vc140-mt-1_64.lib
libboost_random-vc140-mt-1_64.lib
libboost_regex-vc140-mt-1_64.lib
libboost_serialization-vc140-mt-1_64.lib
libboost_signals-vc140-mt-1_64.lib
libboost_system-vc140-mt-1_64.lib
libboost_test_exec_monitor-vc140-mt-1_64.lib
libboost_thread-vc140-mt-1_64.lib
libboost_timer-vc140-mt-1_64.lib
libboost_unit_test_framework-vc140-mt-1_64.lib
libboost_wave-vc140-mt-1_64.lib
libboost_wserialization-vc140-mt-1_64.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_s.lib
qhull.lib
qhull_p.lib
qhull_r.lib
qhullcpp.lib
qhullstatic.lib
qhullstatic_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_c++.lib
vtkNetCDF-8.0.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
OpenNI2.lib

View Content

　　說明：

　　　　debug的比release的文件名多 -gd，_d是不一樣庫中debug的命名規則

　　　　其中文件名來自 PCL 1.8.1\lib，PCL 1.8.1\3rdParty\Boost\lib，PCL 1.8.1\3rdParty\VTK\lib，PCL 1.8.1\3rdParty\FLANN\lib，PCL 1.8.1\3rdParty\OpenNI2\Lib，PCL 1.8.1\3rdParty\Qhull\lib

　　（3）測試

使用點雲生成點，並輸出

#include<iostream>
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>

int main(int argc, char** argv) {
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

    //Fill in the cloud data
    cloud->width = 5;
    cloud->height = 1;
    cloud->points.resize(cloud->width*cloud->height);
    for (size_t i = 0; i < cloud->points.size(); ++i) {
        cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
        cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
        cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
    }
    std::cout << "Cloud before projection:" << std::endl;
    for (size_t i = 0; i < cloud->points.size(); ++i) {
        std::cout << "      " << cloud->points[i].x << "   " << cloud->points[i].y << "   " << cloud->points[i].z << "   " << std::endl;
    }
    system("pause");
    return 0;
}

過濾器

#include<iostream>
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>
#include<pcl/ModelCoefficients.h>
#include<pcl/filters/project_inliers.h>
int main(int argc, char** argv) {
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);
    //Fill in the cloud data
    cloud->width = 5;
    cloud->height = 1;
    cloud->points.resize(cloud->width*cloud->height);
    for (size_t i = 0; i < cloud->points.size(); ++i) {
        cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
        cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
        cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
    }
    std::cerr << "Cloud before projection:" << std::endl;
    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;
    }
    // Create a set of planar coefficients with X=Y=0,Z=1
    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
    coefficients->values.resize(4);
    coefficients->values[0] = coefficients->values[1] = 0;
    coefficients->values[2] = 1.0;
    coefficients->values[3] = 0;
    // Create the filtering object
    pcl::ProjectInliers<pcl::PointXYZ>proj;
    proj.setModelType(pcl::SACMODEL_PLANE);
    proj.setInputCloud(cloud);
    proj.setModelCoefficients(coefficients);
    proj.filter(*cloud_projected);
    std::cerr << "Cloud after projection: " << std::endl;
    for (size_t i = 0; i < cloud_projected->points.size(); ++i) {
        std::cerr << "      " << cloud_projected->points[i].x << "   " << cloud_projected->points[i].y << "   " << cloud_projected->points[i].z << "   " << std::endl;
    }
    system("pause");
    return 0;
}    

 優化將點展現出來

#include<iostream>
#include<pcl/point_cloud.h>
#include<pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
int main() {
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    //設置點雲大小
    cloud->points.resize(500);
    //填充點雲數據
    for (size_t i = 0; i < cloud->points.size(); ++i)
    {
        cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
        cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
        cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
    }
    //聲明視窗
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
    //設置背景色
    viewer->setBackgroundColor(1.0f, 0.5f, 1.0f);
    //預處理點雲顏色
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> magenta(cloud, 255, 255, 255);
    //把點雲加載到視窗
    viewer->addPointCloud(cloud, magenta, "cloud");
    //設置點雲大小
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud");
    //顯示
    viewer->spin();
}

注：

　　若是出現如下錯誤

　　　　（1）LNK1112 模塊計算機類型「x64」與目標計算機類型「X86」衝突解決方案

　

　

　　生成—配置管理器

　　　　　　補充：

　　　　　　　　須要從新配置，即2（2）部分的操做

　 　　　（2）C1010 在查找預編譯頭時遇到意外的文件結尾

 　　　　（3）C4996 'pcl::SAC_SAMPLE_SIZE': This map is deprecated and is kept only to prevent breaking existing user code.

　　　　　　打開項目屬性頁>C/C++>常規>SDL檢查(設置爲否)

　　　　　　從新編譯，原先的錯誤信息變成了警告。

經過pcl的學習，教訓也是很大的：

　　不要偷懶，不要整個的複製代碼，要認真讀，認真看，不要跳躍，必定要沉下心來，沉下心來，要認真