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pcd_concatenate_fields.cpp

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, 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
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 *
 * $Id: pcd_concatenate_fields.cpp 30719 2010-07-09 20:28:41Z rusu $
 *
 */

#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 + 1.0);
    cloud_a.points[i].y = 1024 * rand () / (RAND_MAX + 1.0);
    cloud_a.points[i].z = 1024 * rand () / (RAND_MAX + 1.0);
  }

  for (size_t i = 0; i < cloud_b.points.size (); ++i)
  {
    cloud_b.points[i].normal[0] = 1024 * rand () / (RAND_MAX + 1.0);
    cloud_b.points[i].normal[1] = 1024 * rand () / (RAND_MAX + 1.0);
    cloud_b.points[i].normal[2] = 1024 * rand () / (RAND_MAX + 1.0);
  }

  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);
}
/* ]--- */

---

pcl_tutorials
Author(s): Radu Bogdan Rusu, Bastian Steder
autogenerated on Fri Mar 1 16:30:11 2013