opencv Mat類型轉換成PCL類型

pcl::PointCloud<pcl::PointXYZ>::Ptr ImageUtils::cvMatToPcl(cv::Mat &mat) {

            pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = boost::shared_ptr<pcl::PointCloud<pcl::PointXYZ>>(
                    new pcl::PointCloud<pcl::PointXYZ>);
            std::cout << "begin parsing file" << std::endl;
            for (int ki = 0; ki < mat.rows; ki++) {
                for (int kj = 0; kj < mat.cols; kj++) {
                    pcl::PointXYZ pointXYZ;

                    pointXYZ.x = mat.at<cv::Point3f>(ki, kj).x;
                    pointXYZ.y = mat.at<cv::Point3f>(ki, kj).y;
                    pointXYZ.z = mat.at<cv::Point3f>(ki, kj).z;

                    if(pointXYZ.z <= 0)
                        continue;
                    cloud->points.push_back(pointXYZ);
                }

            }
            return cloud;
        }