PCL1.8.1 隨機產生點雲數據

 

#include <pcl/point_types.h>

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

// Fill in the cloud data
cloud->width = 15;
cloud->height = 1;
cloud->points.resize(cloud->width * cloud->height);

	// Generate the data
for (std::size_t i = 0; i < cloud->points.size(); ++i)
{
	cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
	cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
	cloud->points[i].z = 1.0;
}