配的例程narf_keypoint_extraction报错，怎么修改？

泪随雨下

void
setViewerPose(pcl::visualization::PCLVisualizer&viewer,const Eigen::Affine3f&viewer_pose)
{
Eigen::Vector3f pos_vector=viewer_pose*Eigen::Vector3f(0,0,0);
Eigen::Vector3f look_at_vector=viewer_pose.rotation()*Eigen::Vector3f(0,0,1)+pos_vector;
Eigen::Vector3f up_vector=viewer_pose.rotation()*Eigen::Vector3f(0,-1,0);
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];
viewer.updateCamera();
}
error C2039: “camera_”: 不是“pcl::visualization::PCLVisualizer”的成员。看了确实没这个成员，难道是版本太低还是?我的是PCL1.7.2的，请问下该修改成什么

泪随雨下

narf_keypoint_extraction

jake5sky

http://m.blog.csdn.net/sinat_24206709/article/details/51731992  下面有怎么移植到Qt平台，书上的程序一般都是以window为准。