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;