QT 关于pcl::oncatenateFields的报错问题

报错 类不能是其自身的基类
因为pcl::concatenateFields与PointXYZRGB不兼容

 viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
    vtkNew<vtkGenericOpenGLRenderWindow> window;
    window->AddRenderer(viewer->getRendererCollection()->GetFirstRenderer());
    ui->openGLWidget->setRenderWindow(window.Get());
    viewer->addPointCloud<pcl::PointXYZRGB>(cloud.makeShared(),std::to_string(cloud.size()-1));
    //设置点云大小
    viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, std::to_string(cloud.size()-1));
    viewer->resetCamera();
    ui->openGLWidget->update();

在openGLwidget创建时传入的点云格式是PointXYZRGB的

只需要新建一个PointXYZ的点云cloud_XYZ XYZ继承cloud

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz(new pcl::PointCloud<pcl::PointXYZ>);
        cloud_xyz->width = cloud.width;
        cloud_xyz->height = cloud.height;
        cloud_xyz->is_dense = cloud.is_dense;
        cloud_xyz->points.resize(cloud.points.size());

        for (size_t i = 0; i < cloud.points.size(); ++i) {
            cloud_xyz->points[i].x = cloud.points[i].x;
            cloud_xyz->points[i].y = cloud.points[i].y;
            cloud_xyz->points[i].z = cloud.points[i].z;
        }