PCL无序点云转有序点云

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

int main()
{
	pcl::PointCloud<pcl::PointXYZ> cloud;
	// 创建点云
	cloud.width = 5;
	cloud.height = 2;
	cloud.is_dense = true;
	cloud.points.resize(cloud.width*cloud.height);
	for (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 = 1024 * rand() / (RAND_MAX + 1.0f);
	}



	for (size_t i = 0;i < cloud.points.size();++i)
	{
		std::cerr  << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;
	}
	std::cout << "     "  << std::endl;
	cloud.width = 5;
	cloud.height = 2;
	for (size_t h = 0; h < cloud.height; ++h) 
	{
		for (size_t w = 0; w < cloud.width; ++w)
		{
			std::cout << cloud.at(w, h).x <<" : "<< cloud.at(w, h).y << " : " << cloud.at(w, h).z  << std::endl;; // 正确
		}
	}
	system("pause");
	return(0);
}