问题1

《点云库PCL从入门到精通》第五章  2 range_image_visualization 可视化深度图像例程时

编译器报错"camera_":不是"pcl::visualization::PCLVisualizer"的成员，报错代码如下：

    viewer.camera_.pos[0] = pos_vector[0];
    viewer.camera_.pos[1] = pos_vector[1];
    viewer.camera_.pos[2] = pos_vector[2];
    viewer.camera_.focal[0] = look_at_vector[0];
    viewer.camera_.focal[1] = look_at_vector[1];
    viewer.camera_.focal[2] = look_at_vector[2];
    viewer.camera_.view[0] = up_vector[0];
    viewer.camera_.view[1] = up_vector[1];
    viewer.camera_.view[2] = up_vector[2];

解决：PCL1.8的viewer已经没有camera_了，应使用函数setCameraPosition()替换。修改后的代码如下：

    viewer.setCameraPosition(pos_vector[0], pos_vector[1], pos_vector[2], look_at_vector[0],
        look_at_vector[1], look_at_vector[2], up_vector[0], up_vector[1], up_vector[2]);