// 定义相关变量

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

     pcl::PointCloud<pcl::PointXYZ>& cloud = *cloud_ptr;    //点云

     //初始化点云数据PCD文件头

     cloud.width    = depthHeight * depthWidth;

     cloud.height   = ;

     cloud.is_dense = false;

     cloud.points.resize (cloud.width * cloud.height);

     //显示重建得到的点云数据

     pcl::visualization::CloudViewer viewer("Cloud Viewer");

     viewer.showCloud(cloud_ptr);

     //保存点云数据

     pcl::io::savePCDFileASCII ("test_pcd.pcd", cloud);

     std::cerr << "Saved " << cloud.points.size () << " data points to test_pcd.pcd." << std::endl;