opencv向量点云可视化

#pragma once
#include<opencv2/opencv.hpp>
#include<iostream>
#include<cmath>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/point_types.h>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/SVD>

using namespace std;
using namespace pcl;
using namespace cv;

pcl::PointXYZ cvTopcl(Point3f src)
{
	pcl::PointXYZ basic_point;
	basic_point.x = src.x;
	basic_point.y = src.y;
	basic_point.z = src.z;
	return basic_point;
}

pcl::PointCloud<pcl::PointXYZ>::Ptr getpclPtr(vector<Point3f> cvpoints)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr basic_cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointXYZ basic_point;
	if (cvpoints.