example_copy_point_cloud.cpp

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/*
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 *
 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2009-2011, Willow Garage, Inc.
 *
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 *
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 *   notice, this list of conditions and the following disclaimer.
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 *   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
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 *
 * $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.
 */

// STL
#include <iostream>

// PCL
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#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 ()
{
  typedef pcl::PointCloud<pcl::PointXYZ> CloudType;
  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->points[0];
  std::cout << p_retrieved.x << " " << p_retrieved.y << " " << p_retrieved.z << std::endl;
}

void
differenceType ()
{
  typedef pcl::PointCloud<pcl::PointXYZ> CloudType;
  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;

  typedef pcl::PointCloud<pcl::PointNormal> CloudType2;
  CloudType2::Ptr cloud2(new CloudType2);
  copyPointCloud(*cloud, *cloud2);

  CloudType2::PointType p_retrieved = cloud2->points[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 ()
{
  typedef pcl::PointCloud<pcl::PointXYZ> CloudType;
  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;

  typedef pcl::PointCloud<pcl::Normal> CloudType2;
  CloudType2::Ptr cloud2(new CloudType2);
  copyPointCloud(*cloud, *cloud2);
  
  CloudType2::PointType p_retrieved = cloud2->points[0];
  std::cout << p_retrieved.x << " " << p_retrieved.y << " " << p_retrieved.z << std::endl;
}

*/