如何在C ++中从Eigen MatrixXf初始化点云

Question

So I have an input:

double* in;

I want to make:

 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;

with the array I have.

The way I figure out is first:

Eigen::Map<Eigen::Matrix<double,Eigen::Dynamic,Eigen::Dynamic,Eigen::ColMajor> > M(in,len,chl);
Eigen::MatrixXf Mf = M.cast <float> ();

However, I am stuck here. I do not know how to initialize the point cloud with Eigen matrix.

I am thinking if

pcl::PointCloud<Eigen::MatrixXf>::Ptr cloud_ar_p(pcl::PointCloud<Eigen::MatrixXf> (Mf));

as a first step that would possible work.

Any hint and comments are so much appreciated. I am stuck for a while actually.

Thanks.