concatenate_point_clouds_main.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Bosch RTC
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00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00033  *
00034  * $Id: transform_pointcloud.cpp 30719 2010-07-09 20:28:41Z rusu $
00035  *
00036  */
00044 // ROS core
00045 #include <ros/ros.h>
00046 #include "pcl/io/pcd_io.h"
00047 #include "pcl/point_types.h"
00048 #include "pcl/filters/voxel_grid.h"
00049 
00050 using namespace std;
00051 typedef pcl::PointXYZ PointT;
00052 
00053 
00054 int main (int argc, char** argv)
00055 {
00056   if (argc != 3)
00057     {
00058       cerr << "Usage: " << argv[0] << " pointcloud1.pcd pointcloud2.pcd" << endl; 
00059       exit(0);
00060     }
00061   pcl::PointCloud<PointT> pcl_cloud1, pcl_cloud2;
00062   pcl::PointCloud<PointT> concatenated_pc;
00063   pcl::PCDReader reader;
00064   reader.read (argv[1], pcl_cloud1);
00065   reader.read (argv[2], pcl_cloud2);
00066   
00067   concatenated_pc += pcl_cloud1;
00068   concatenated_pc += pcl_cloud2;
00069   pcl::PCDWriter pcd_writer;
00070   std::string cloud_name = "concatenated_cloud.pcd";
00071   // std::string mesh_name = "mesh.vtk";
00072   //  cloud += *input_cloud;
00073   pcd_writer.write(cloud_name, concatenated_pc);
00074   ROS_INFO("[ConcatenatePointCloudNode:] concatenated cloud with %ld points", concatenated_pc.points.size());
00075   return (0);
00076 }
00077 
00078 /* ]--- */
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pr2_data_acquisition_tools
Author(s): Dejan Pangercic
autogenerated on Sun Oct 6 2013 11:56:39