Three methods to iterate every point in pointcloud of PCL（三种遍历点云的方式）

The most common way to do this is by subscript in the [] operand^[1]

pcl::PointCloud<pcl::PointXYZ>::Ptr pointCloud;
for（int nIndex = 0； nIndex < pointCloud->points.size (); nIndex++）
{
    pointCloud->points[nIndex].x;
    pointCloud->points[nIndex].y;
    pointCloud->points[nIndex].z;
}

The more efficient way is to use an iterator ^{[2] [3]}

The example in Euclidean Cluster Extraction of pcl tutorials is well known ^[2].

Extract the indices cluster_indices then use it to iterate each pointcloud from cluster_indices.begin () to cluster_indices.end (). Next step is to iterate every point in the pointcloud from it->indices.begin (); to it->indices.end (). The code snippet is:

    std::vector<pcl::PointIndices> cluster_indices;
    pcl::EuclideanClusterExtract