PCL深度图像 PCL点云图 PCL的RangeImage

 #include<pcl/range_image/range_image.h>

    
  
    
  
    
 int main(int argn, char** argv)
    
 {
    
     pcl::PointCloud<pcl::PointXYZ> pointCloud;
    
  
    
     // Generate the data
    
     for (float y = -0.5f; y <= 0.5f; y += 0.01f) {
    
     for (float z = -0.5f; z <= 0.5f; z += 0.01f) {
    
         pcl::PointXYZ point;
    
         point.x = 2.0f - y;
    
         point.y = y;
    
         point.z = z;
    
         pointCloud.push_back(point);
    
     }
    
     }
    
  
    
     pointCloud.width = (uint32_t)pointCloud.points.size();
    
     pointCloud.he