1 // 定义相关变量
2 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_ptr (new pcl::PointCloud<pcl::PointXYZ>);
3 pcl::PointCloud<pcl::PointXYZ>& cloud = *cloud_ptr; //点云
4 //初始化点云数据PCD文件头
5 cloud.width = depthHeight * depthWidth;
6 cloud.height = 1;
7 cloud.is_dense = false;
8 cloud.points.resize (cloud.width * cloud.height);
9
10 //显示重建得到的点云数据
11 pcl::visualization::CloudViewer viewer("Cloud Viewer");
12 viewer.showCloud(cloud_ptr);
13
14 //保存点云数据
15 pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);
16 std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl;
