PCL入门—点云操作 定义变量 显示点云 存储

 1     // 定义相关变量
 2     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
 3     pcl::PointCloud<pcl::PointXYZ>& cloud = *cloud_ptr;    //点云
 4     //初始化点云数据PCD文件头
 5     cloud.width    = depthHeight * depthWidth;
 6     cloud.height   = 1;
 7     cloud.is_dense = false;
 8     cloud.points.resize (cloud.width * cloud.height);
 9 
10     //显示重建得到的点云数据
11     pcl::visualization::CloudViewer viewer("Cloud Viewer");
12     viewer.showCloud(cloud_ptr);
13 
14     //保存点云数据
15     pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
16     std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl;