Here's two quick ways.
1 - If you want to add individual points, use the push_back operator.
PointXYZ point;
PointCloud<PointXYZ> cloud;
cloud.push_back (point); //if your cloud is organized, this will break
it. For your use case it should not be
2- Make a new point cloud out of 2 other clouds
PointCloud<PointXYZ> cloudA, cloudB, cloudC;
cloudC = cloudA + cloudB;
Cheers
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