结合OpenCV和PCL的点云创建

利用OpenCV提取彩色图像的RGB信息，XYZ随机赋值，创建PCL中的PointCloudXYZRGB形式的点云，并显示出来。

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <opencv2/opencv.hpp>

int user_data;

void viewerOneOff (pcl::visualization::PCLVisualizer& viewer)
{
    viewer.setBackgroundColor (0.0, 0.0, 0.0);
}
    
void viewerPsycho (pcl::visualization::PCLVisualizer& viewer)
{
    user_data = 9;
}
    
int main ()
{
	pcl::PointCloud<pcl::PointXYZRGB> cloud_a;
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);


	cv::Mat image = cv::imread("2.jpg");

	int rowNumber = image.rows;
	int colNumber = image.cols;

	cloud_a.width  = rowNumber;
	cloud_a.height = colNumber;
	cloud_a.points.resize(cloud_a.wi