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#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int
main (int argc, char** argv)
{
if (argc != 2)
{
std::cerr << "please specify command line arg '-f' or '-p'" << std::endl;
exit(0);
}
pcl::PointCloud<pcl::PointXYZ> cloud_a, cloud_b, cloud_c;
pcl::PointCloud<pcl::Normal> n_cloud_b;
pcl::PointCloud<pcl::PointNormal> p_n_cloud_c;
// Fill in the cloud data
cloud_a.width = 5;
cloud_a.height = cloud_b.height = n_cloud_b.height = 1;
cloud_a.points.resize (cloud_a.width * cloud_a.height);
if (strcmp(argv[1], "-p") == 0)
{
cloud_b.width = 3;
cloud_b.points.resize (cloud_b.width * cloud_b.height);
}
else{
n_cloud_b.width = 5;
n_cloud_b.points.resize (n_cloud_b.width * n_cloud_b.height);
}
for (size_t i = 0; i < cloud_a.points.size (); ++i)
{
cloud_a.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
cloud_a.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
cloud_a.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
}
if (strcmp(argv[1], "-p") == 0)
for (size_t i = 0; i < cloud_b.points.size (); ++i)
{
cloud_b.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
cloud_b.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
cloud_b.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
}
else
for (size_t i = 0; i < n_cloud_b.points.size (); ++i)
{
n_cloud_b.points[i].normal[0] = 1024 * rand () / (RAND_MAX + 1.0f);
n_cloud_b.points[i].normal[1] = 1024 * rand () / (RAND_MAX + 1.0f);
n_cloud_b.points[i].normal[2] = 1024 * rand () / (RAND_MAX + 1.0f);
}
std::cerr << "Cloud A: " << std::endl;
for (size_t i = 0; i < cloud_a.points.size (); ++i)
std::cerr << " " << cloud_a.points[i].x << " " << cloud_a.points[i].y << " " << cloud_a.points[i].z << std::endl;
std::cerr << "Cloud B: " << std::endl;
if (strcmp(argv[1], "-p") == 0)
for (size_t i = 0; i < cloud_b.points.size (); ++i)
std::cerr << " " << cloud_b.points[i].x << " " << cloud_b.points[i].y << " " << cloud_b.points[i].z << std::endl;
else
for (size_t i = 0; i < n_cloud_b.points.size (); ++i)
std::cerr << " " << n_cloud_b.points[i].normal[0] << " " << n_cloud_b.points[i].normal[1] << " " << n_cloud_b.points[i].normal[2] << std::endl;
// Copy the point cloud data
if (strcmp(argv[1], "-p") == 0)
{
cloud_c = cloud_a;
cloud_c += cloud_b;
std::cerr << "Cloud C: " << std::endl;
for (size_t i = 0; i < cloud_c.points.size (); ++i)
std::cerr << " " << cloud_c.points[i].x << " " << cloud_c.points[i].y << " " << cloud_c.points[i].z << " " << std::endl;
}
else
{
pcl::concatenateFields (cloud_a, n_cloud_b, p_n_cloud_c);
std::cerr << "Cloud C: " << std::endl;
for (size_t i = 0; i < p_n_cloud_c.points.size (); ++i)
std::cerr << " " <<
p_n_cloud_c.points[i].x << " " << p_n_cloud_c.points[i].y << " " << p_n_cloud_c.points[i].z << " " <<
p_n_cloud_c.points[i].normal[0] << " " << p_n_cloud_c.points[i].normal[1] << " " << p_n_cloud_c.points[i].normal[2] << std::endl;
}
return (0);
}
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