1. PointXYZ
与 PCLPointCloud2
点云类型转换
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PCLPointCloud2::Ptr cloud_blob(new pcl::PCLPointCloud2);
pcl::toPCLPointCloud2(*cloud, *cloud_blob);
pcl::fromPCLPointCloud2(*cloud_blob, *cloud);
2. 扩展点云字段或者类型
template <typename PointIn1T, typename PointIn2T, typename PointOutT> void
pcl::concatenateFields (const pcl::PointCloud<PointIn1T> &cloud1_in,
const pcl::PointCloud<PointIn2T> &cloud2_in,
pcl::PointCloud<PointOutT> &cloud_out)
pcl::concatenateFields(cloudC, cloud_normal, cloud_xyznormal);