pcl中点和法线和合并和拆解

合并：

PointCloud<PointXYZ>::Ptr cloud(new PointCloud<PointXYZ>);
PointCloud<Normal>::Ptr normals(new PointCloud<Normal>);

PointCloud<PointNormal>::Ptr cloud_with_normals(new PointCloud<PointNormal>);
concatenateFields(*cloud, *normals,*cloud_with_normals);

拆解：

pcl::PointCloud<pcl::PointXYZ>::Ptr mls_cloud (new pcl::PointCloud<pcl::PointXYZ>);
copyPointCloud(cloud_xyz, cloud_xyzrgb);