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#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
int
main (int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ> cloud_a;
pcl::PointCloud<pcl::Normal> cloud_b;
pcl::PointCloud<pcl::PointNormal> cloud_c;
// Fill in the cloud data
cloud_a.width = cloud_b.width = 5;
cloud_a.height = cloud_b.height = 1;
cloud_a.points.resize (cloud_a.width * cloud_a.height);
cloud_b.points.resize (cloud_b.width * 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);
}
for (size_t i = 0; i < cloud_b.points.size (); ++i)
{
cloud_b.points[i].normal[0] = 1024 * rand () / (RAND_MAX + 1.0f);
cloud_b.points[i].normal[1] = 1024 * rand () / (RAND_MAX + 1.0f);
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;
for (size_t i = 0; i < cloud_b.points.size (); ++i)
std::cerr << " " << cloud_b.points[i].normal[0] << " " << cloud_b.points[i].normal[1] << " " << cloud_b.points[i].normal[2] << std::endl;
pcl::concatenateFields (cloud_a, cloud_b, cloud_c);
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 << " " <<
cloud_c.points[i].normal[0] << " " << cloud_c.points[i].normal[1] << " " << cloud_c.points[i].normal[2] << std::endl;
return (0);
}
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