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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2011, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: example_CopyPointCloud.cpp 4117 2012-01-31 17:56:02Z aichim $
*
*/
/* This example demonstrates how to copy a point cloud. The destination
* cloud is not required to have the same PointType as the source cloud,
* but of course the destination PointType must have a superset of the
* members of the source PointType.
*/
#include <iostream>
#include <pcl/common/io.h>
static void
sameType ();
static void
differenceType ();
// We show this function as an example of what you cannot do.
// static void
// badConversion ();
int
main ()
{
sameType();
differenceType();
// badConversion();
return 0;
}
void
sameType ()
{
using CloudType = pcl::PointCloud<pcl::PointXYZ>;
CloudType::Ptr cloud (new CloudType);
CloudType::PointType p;
p.x = 1; p.y = 2; p.z = 3;
cloud->push_back(p);
std::cout << p.x << " " << p.y << " " << p.z << std::endl;
CloudType::Ptr cloud2(new CloudType);
copyPointCloud(*cloud, *cloud2);
CloudType::PointType p_retrieved = (*cloud2)[0];
std::cout << p_retrieved.x << " " << p_retrieved.y << " " << p_retrieved.z << std::endl;
}
void
differenceType ()
{
using CloudType = pcl::PointCloud<pcl::PointXYZ>;
CloudType::Ptr cloud (new CloudType);
CloudType::PointType p;
p.x = 1; p.y = 2; p.z = 3;
cloud->push_back(p);
std::cout << p.x << " " << p.y << " " << p.z << std::endl;
using CloudType2 = pcl::PointCloud<pcl::PointNormal>;
CloudType2::Ptr cloud2(new CloudType2);
copyPointCloud(*cloud, *cloud2);
CloudType2::PointType p_retrieved = (*cloud2)[0];
std::cout << p_retrieved.x << " " << p_retrieved.y << " " << p_retrieved.z << std::endl;
}
/*
// Of course you can't do this, because pcl::Normal does not have x,y,z members:
error: ‘pcl::PointCloud<pcl::Normal>::PointType’ has no member named ‘x’
void
badConversion ()
{
using CloudType = pcl::PointCloud<pcl::PointXYZ>;
CloudType::Ptr cloud (new CloudType);
CloudType::PointType p;
p.x = 1; p.y = 2; p.z = 3;
cloud->push_back(p);
std::cout << p.x << " " << p.y << " " << p.z << std::endl;
using CloudType2 = pcl::PointCloud<pcl::Normal>;
CloudType2::Ptr cloud2(new CloudType2);
copyPointCloud(*cloud, *cloud2);
CloudType2::PointType p_retrieved = (*cloud2)[0];
std::cout << p_retrieved.x << " " << p_retrieved.y << " " << p_retrieved.z << std::endl;
}
*/
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