按照书上的例子点云可视化自定义交互时出现错误，求助

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我按照《点云库 PCL学习教程》第七章的可视化部分自定义交互例子，运行程序后出现了错误:pcl_visualizer_demo.exe已停止工作。
详细代码如下，

1. /* \author Geoffrey Biggs */
   
2. 
   
3. #include <iostream>
   
4. #include <boost/thread/thread.hpp>
   
5. #include <pcl/common/common_headers.h>
   
6. #include <pcl/common/common_headers.h>
   
7. #include <pcl/features/normal_3d.h>
   
8. #include <pcl/io/pcd_io.h>
   
9. #include <pcl/visualization/pcl_visualizer.h>
   
10. #include <pcl/console/parse.h>
    
11. #include <iomanip>
    
12. 
    
13. unsigned int text_id = 0;
    
14. void keyboardEventOccurred (const pcl::visualization::KeyboardEvent &event,
    
15.                             void* viewer_void)
    
16. {
    
17.   boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);
    
18.   if (event.getKeySym () == "r" && event.keyDown ())
    
19.   {
    
20.     std::cout << "r was pressed => removing all text" << std::endl;
    
21. 
    
22.     char str[512];
    
23.     for (unsigned int i = 0; i < text_id; ++i)
    
24.     {
    
25.       sprintf (str, "text#%03d", i);
    
26.       viewer->removeShape (str);
    
27.     }
    
28.     text_id = 0;
    
29.   }
    
30. }
    
31. 
    
32. void mouseEventOccurred (const pcl::visualization::MouseEvent &event,
    
33.                          void* viewer_void)
    
34. {
    
35.   boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer = *static_cast<boost::shared_ptr<pcl::visualization::PCLVisualizer> *> (viewer_void);
    
36.   if (event.getButton () == pcl::visualization::MouseEvent::LeftButton &&
    
37.       event.getType () == pcl::visualization::MouseEvent::MouseButtonRelease)
    
38.   {
    
39.     std::cout << "Left mouse button released at position (" << event.getX () << ", " << event.getY () << ")" << std::endl;
    
40. 
    
41.     char str[512];
    
42.     sprintf (str, "text#%03d", text_id ++);
    
43.     viewer->addText ("clicked here", event.getX (), event.getY (), str);
    
44.   }
    
45. }
    
46. 
    
47. //自定义交互
    
48. boost::shared_ptr<pcl::visualization::PCLVisualizer> interactionCustomizationVis ()
    
49. {
    
50.   boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
    
51.   viewer->setBackgroundColor (0, 0, 0);
    
52.   viewer->addCoordinateSystem (1.0);
    
53.   //注册响应时间的回调函数
    
54.   viewer->registerKeyboardCallback (keyboardEventOccurred, (void*)&viewer);
    
55.   viewer->registerMouseCallback (mouseEventOccurred, (void*)&viewer);
    
56. 
    
57.   return (viewer);
    
58. }
    
59. // -----Main-----
    
60. int
    
61. main (int argc, char** argv)
    
62. {  
    
63.   // 自行创建一随机点云
    
64.   pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
    
65.   pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
    
66.   std::cout << "Genarating example point clouds.\n\n";
    
67.   // 以椭圆为边线沿z轴拉伸获取其点云，并赋予红绿蓝渐变色。
    
68.   uint8_t r(255), g(15), b(15);
    
69.   for (float z(-1.0); z <= 1.0; z += 0.05)
    
70.   {
    
71.     for (float angle(0.0); angle <= 360.0; angle += 5.0)
    
72.     {
    
73.       pcl::PointXYZ basic_point;
    
74.       basic_point.x = 0.5 * cosf (pcl::deg2rad(angle));
    
75.       basic_point.y = sinf (pcl::deg2rad(angle));
    
76.       basic_point.z = z;
    
77.       basic_cloud_ptr->points.push_back(basic_point);
    
78. 
    
79.       pcl::PointXYZRGB point;
    
80.       point.x = basic_point.x;
    
81.       point.y = basic_point.y;
    
82.       point.z = basic_point.z;
    
83.       uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
    
84.               static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
    
85.       point.rgb = *reinterpret_cast<float*>(&rgb);
    
86.       point_cloud_ptr->points.push_back (point);
    
87.     }
    
88.     if (z < 0.0)
    
89.     {
    
90.       r -= 12;
    
91.       g += 12;
    
92.     }
    
93.     else
    
94.     {
    
95.       g -= 12;
    
96.       b += 12;
    
97.     }
    
98.   }
    
99.   // 0.05为搜索半径获取点云法线
    
100.   pcl::NormalEstimation<pcl::PointXYZRGB, pcl::Normal> ne;
     
101.   ne.setInputCloud (point_cloud_ptr);
     
102.   pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGB> ());
     
103.   ne.setSearchMethod (tree);
     
104.   pcl::PointCloud<pcl::Normal>::Ptr cloud_normals1 (new pcl::PointCloud<pcl::Normal>);
     
105.   ne.setRadiusSearch (0.05);
     
106.   ne.compute (*cloud_normals1);
     
107.   //  0.1为搜索半径获取点云法线
     
108.   pcl::PointCloud<pcl::Normal>::Ptr cloud_normals2 (new pcl::PointCloud<pcl::Normal>);
     
109.   ne.setRadiusSearch (0.1);
     
110.   ne.compute (*cloud_normals2);
     
111.   
     
112.   boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
     
113. 
     
114.   viewer = interactionCustomizationVis();
     
115.   // 主循环
     
116.   while (!viewer->wasStopped ())
     
117.   {
     
118.     viewer->spinOnce (100);
     
119.     boost::this_thread::sleep (boost::posix_time::microseconds (100000));
     
120.   }
     
121. }

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求助高手，希望帮帮忙看看错在哪里，怎么改正啊？感激不尽，谢谢！