concatenate_point_clouds_main.cpp

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/*
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 *     contributors may be used to endorse or promote products derived
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 * $Id: transform_pointcloud.cpp 30719 2010-07-09 20:28:41Z rusu $
 *
 */
// ROS core
#include <ros/ros.h>
#include "pcl/io/pcd_io.h"
#include "pcl/point_types.h"
#include "pcl/filters/voxel_grid.h"

using namespace std;
typedef pcl::PointXYZ PointT;


int main (int argc, char** argv)
{
  if (argc != 3)
    {
      cerr << "Usage: " << argv[0] << " pointcloud1.pcd pointcloud2.pcd" << endl; 
      exit(0);
    }
  pcl::PointCloud<PointT> pcl_cloud1, pcl_cloud2;
  pcl::PointCloud<PointT> concatenated_pc;
  pcl::PCDReader reader;
  reader.read (argv[1], pcl_cloud1);
  reader.read (argv[2], pcl_cloud2);
  
  concatenated_pc += pcl_cloud1;
  concatenated_pc += pcl_cloud2;
  pcl::PCDWriter pcd_writer;
  std::string cloud_name = "concatenated_cloud.pcd";
  // std::string mesh_name = "mesh.vtk";
  //  cloud += *input_cloud;
  pcd_writer.write(cloud_name, concatenated_pc);
  ROS_INFO("[ConcatenatePointCloudNode:] concatenated cloud with %ld points", concatenated_pc.points.size());
  return (0);
}

/* ]--- */