PCL-已知索引复制点云-转自张智胜

#include <iostream>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/io.h>

int main(int argc, char** argv)
{
 //定义一个存储点云的PointCloud类的实例，使用PointXYZ结构实例化
 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
 //设置点云的大小
 cloud->width = 5;
 cloud->height = 1;
 cloud->points.resize(cloud->width * cloud->height);
 //随机设置点云里点的坐标
 for (size_t i = 0; i < cloud->points.size(); ++i)
 {
  cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
  cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
  cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
 }
 std::vector<int> indexs = { 0, 2, 3 };
 pcl::PointCloud<pcl::PointXYZ>::Ptr cloudOut(new pcl::PointCloud<pcl::PointXYZ>);

 //按索引拷贝点到cloudOut中
 pcl::copyPointCloud(*cloud, indexs, *cloudOut);
 //输出cloudout 的点
 for (size_t i = 0; i < cloudOut->points.size(); ++i)
 {
  std::cout << "第" << i << "个点的x坐标：" << cloudOut->points[i].x << std::endl;
  std::cout << "第" << i << "个点的y坐标：" << cloudOut->points[i].y << std::endl;
  std::cout << "第" << i << "个点的z坐标：" << cloudOut->points[i].z << std::endl;
 }
 system("pause");
 return 0;
}