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我正在尝试使用 pclVisualizer 显示点云，但出现以下链接器错误：

/usr/include/pcl-1.7/pcl/visualization/impl/pcl_visualizer.hpp:72：未定义引用`pcl::visualization::PointCloudGeometryHandlerXYZ<MyPointType>::PointCloudGeometryHandlerXYZ(boost::shared_ptrpcl::PointCloud\<MyPointType const > 常量&)'

该错误是由对 addPointCloud 的调用引起的，我仅在使用自定义点云类型时才收到该错误。如果我使用标准的 pcl::PointXYZ，那就没问题了。我正在运行 pcl 1.7 版。

#include <iostream>
#include <string>

#include <pcl/common/common_headers.h>
#include <pcl/visualization/pcl_visualizer.h>

struct MyPointType
{
    PCL_ADD_POINT4D;
    uint32_t classificationFlags; 
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW 
} EIGEN_ALIGN16; 


POINT_CLOUD_REGISTER_POINT_STRUCT(MyPointType,
                                  (float, x, x)
                                  (float, y, y)
                                  (float, z, z)
                                  (uint32_t, classificationFlags, classificationFlags))
                                  

pcl::visualization::PCLVisualizer::Ptr simpleVis()
{

    pcl::visualization::PCLVisualizer::Ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
    viewer->setBackgroundColor (0, 0, 0);
  
    viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
    viewer->addCoordinateSystem (1.0);
    viewer->initCameraParameters ();
    return (viewer);
}


int main(int argc, char *argv[])
{
    pcl::visualization::PCLVisualizer::Ptr viewer = simpleVis();

    while (!viewer->wasStopped ())
    {
        viewer->spinOnce (100);

        //typedef pcl::PointXYZ PointType;
        typedef MyPointType PointType;
        typedef pcl::PointCloud<PointType> CloudType;
        
        boost::shared_ptr<CloudType> cloud_test(new CloudType);
        viewer->addPointCloud<PointType> (cloud_test, "sample cloud");
    }
    
    return 0;
}
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