example_organized_point_cloud.cpp

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2009-2011, Willow Garage, Inc.
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * * Redistributions of source code must retain the above copyright
 *   notice, this list of conditions and the following disclaimer.
 * * Redistributions in binary form must reproduce the above
 *   copyright notice, this list of conditions and the following
 *   disclaimer in the documentation and/or other materials provided
 *   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
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id: example_OrganizedPointCloud.cpp 4258 2012-02-05 15:06:20Z daviddoria $
 *
 */

// STL
#include <iostream>

// PCL
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

int 
main ()
{
  // Setup the cloud
  typedef pcl::PointXYZ PointType;
  typedef pcl::PointCloud<PointType> CloudType;
  CloudType::Ptr cloud (new CloudType);
  
  // Make the cloud a 10x10 grid
  cloud->height = 10;
  cloud->width = 10;
  cloud->is_dense = true;
  cloud->resize(cloud->height * cloud->width);

  // Output the (0,0) point
  std::cout << (*cloud)(0,0) << std::endl;

  // Set the (0,0) point
  PointType p; p.x = 1; p.y = 2; p.z = 3;
  (*cloud)(0,0) = p;

  // Confirm that the point was set
  std::cout << (*cloud)(0,0) << std::endl;

  return (0);
}