pcl 点云创建

1.
pcl::PointCloud<pcl::PointXYZ> pointCloud;
pcl::PointXYZ point;
point.x = 2.0f - y;
point.y = y;
point.z = z;
pointCloud.points.push_back(point);

2.

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
for (int 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);
}

3.

pcl::PointCloud<pcl::PointXYZ> cloud;//点云对象

pcl::PointCloud<pcl::PointXYZ>::Ptr cloudPtr (new pcl::PointCloud<pcl::PointXYZ>);//点云指针对象

 

//转换
cloud = * cloudPtr;
cloudPtr = cloud.makeShared();