我先把一个人脸分成两半，然后拼接配准之后如左图所示，合并之后如右图所示，保存输出，这里的合并不涉及点云融合，只是两个点云相加 点云模型下载链接在另一篇文章里PCL点云配准官方教程   #include <pcl/io/pcd_io.h>#include <pcl/io/ply_io.h>#include <pcl/visualization/pcl_visualizer.h> //可视化头文件typedef pcl::PointXYZ PointT;typedef pcl::PointCloud<PointT> PointCloudT;intmain(int argc, char** argv){    // Objects for storing the point clouds. pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudA(new pcl::PointCloud<pcl::PointXYZRGBA>); pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudB(new pcl::PointCloud<pcl::PointXYZRGBA>); pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudC(new pcl::PointCloud<pcl::PointXYZRGBA>); // 读取两个点云文件 if (pcl::io::loadPLYFile<pcl::PointXYZRGBA>("C:\\Users\\fhlhc\\Desktop\\left.ply", *cloudA) != 0) {     return -1; } if (pcl::io::loadPLYFile<pcl::PointXYZRGBA>("C:\\Users\\fhlhc\\Desktop\\right.ply", *cloudB) != 0) {     return -1; } // Create cloud "C", with the points of both "A" and "B".点云A、B合并生成C *cloudC = (*cloudA) + (*cloudB); // Now cloudC->points.size() equals cloudA->points.size() + cloudB->points.size().     // //可视化    pcl::visualization::PCLVisualizer viewer("合并两个点云");    // 创建两个独立垂直观察视点    int v1(0);    int v2(1);    viewer.createViewPort(0.0, 0.0, 0.5, 1.0, v1);    viewer.createViewPort(0.5, 0.0, 1.0, 1.0, v2); // 设置背景颜色    viewer.setBackgroundColor(0.5, 0, 0.5, v1);    viewer.setBackgroundColor(0,0.5,0.5, v2);   //A点云绿色 pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGBA> src_h(cloudA, 0, 255, 0); //B点云蓝色 pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGBA> tgt_h(cloudB, 0, 0, 255); //C点云红色 pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGBA> final_h(cloudC, 255, 0, 0); //viewer.setBackgroundColor(255, 255, 255); viewer.addPointCloud(cloudA, src_h, "source cloud",v1); viewer.addPointCloud(cloudB, tgt_h, "target cloud",v1); viewer.addPointCloud(cloudC, final_h, "result cloud",v2); // 设置相机的坐标和方向（在终端初始观察的位置）    viewer.setCameraPosition(50, 50, 50, 0.589847, 0.921947, -0.256907, 0); pcl::io::savePCDFileASCII("C:\\Users\\fhlhc\\Desktop\\cloudC.pcd", *cloudC);  //保存点云C while (!viewer.wasStopped())   {       viewer.spinOnce(100);    boost::this_thread::sleep(boost::posix_time::microseconds(100000));   }}