create_xyzinormal_type.cpp

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#include "pcl/io/pcd_io.h"
#include "pcl/point_types.h"
#include <pcl/features/normal_3d.h>

int
  main (int argc, char** argv)
{
  //read input cloud
  pcl::PCDReader reader;
  pcl::PointCloud<pcl::PointXYZ> cloud_xyz;
  if (argc != 2)
    {
      ROS_ERROR("Usage: %s <input_cloud.pcd>", argv[0]);
      exit(2);
    }
  reader.read (argv[1], cloud_xyz);
  ROS_INFO ("PointCloud has: %zu data points.", cloud_xyz.points.size ());


  //construct PointXYZI cloud
  pcl::PointCloud<pcl::PointXYZI> cloud_a;
  cloud_a.points.resize(cloud_xyz.points.size ());
  for (unsigned int i = 0; i < cloud_xyz.points.size(); i++)
    {
      cloud_a.points[i].x = cloud_xyz.points[i].x;
      cloud_a.points[i].y = cloud_xyz.points[i].y;
      cloud_a.points[i].z = cloud_xyz.points[i].z;
      cloud_a.points[i].intensity = 0;
    }


  //estimate normals
  pcl::PointCloud<pcl::Normal> cloud_b;
  pcl::NormalEstimation<pcl::PointXYZI, pcl::Normal> ne;
  pcl::search::KdTree<pcl::PointXYZI>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZI> ());
  ne.setSearchMethod (tree);
  ne.setInputCloud (cloud_a.makeShared());
  ne.setKSearch (10);
  ne.compute (cloud_b);


  //concatenate fields
  pcl::PointCloud<pcl::PointXYZINormal> cloud_c;
  pcl::concatenateFields (cloud_a, cloud_b, cloud_c);
  

  //write result to disk as ASCII
  pcl::PCDWriter writer;
  ROS_INFO ("Writing PointCloud with: %zu data points.", cloud_c.points.size ());
  writer.write (std::string(argv[1]) + "_normals.pcd", cloud_c, false);
  return (0);
}