一、介绍
Concatenate the points of two Point Clouds.
二、代码
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/common/io.h>
int main()
{
int flag = 0; // 0 row concat; 1 col concat.
pcl::PointCloud<pcl::PointXYZ> cloud_a, cloud_b, cloud_c;
pcl::PointCloud<pcl::Normal> n_cloud_b;
pcl::PointCloud<pcl::PointNormal> p_n_cloud_c;
cloud_a.width = 5;
cloud_a.height = cloud_b.height = n_cloud_b.height = 1;
cloud_a.resize(cloud_a.width * cloud_a.height);
if (flag == 0) {
cloud_b.width = 3;
cloud_b.resize(cloud_b.width * cloud_b.height);
}
else {
n_cloud_b.width = 5;
n_cloud_b.resize(n_cloud_b.width * n_cloud_b.height);
}
for (std::size_t i = 0; i < cloud_a.size(); ++i) {
cloud_a[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
cloud_a[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
cloud_a[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
}
if (flag == 0)
for (std::size_t i = 0; i < cloud_b.size(); ++i) {
cloud_b[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
cloud_b[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
cloud_b[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
}
else
for (std::size_t i = 0; i < n_cloud_b.size(); ++i) {
n_cloud_b[i].normal[0] = 1024 * rand() / (RAND_MAX + 1.0f);
n_cloud_b[i].normal[1] = 1024 * rand() / (RAND_MAX + 1.0f);
n_cloud_b[i].normal[2] = 1024 * rand() / (RAND_MAX + 1.0f);
}
std::cerr << "Cloud A: " << std::endl;
for (std::size_t i = 0; i < cloud_a.size(); ++i)
std::cerr << " " << cloud_a[i].x << " " << cloud_a[i].y << " " << cloud_a[i].z << std::endl;
std::cerr << "Cloud B: " << std::endl;
if (flag == 0)
for (std::size_t i = 0; i < cloud_b.size(); ++i)
std::cerr << " " << cloud_b[i].x << " " << cloud_b[i].y << " " << cloud_b[i].z << std::endl;
else
for (std::size_t i = 0; i < n_cloud_b.size(); ++i)
std::cerr << " " << n_cloud_b[i].normal[0] << " " << n_cloud_b[i].normal[1] << " " << n_cloud_b[i].normal[2] << std::endl;
if (flag == 0) {
cloud_c = cloud_a;
cloud_c += cloud_b; // row concat
std::cerr << "Cloud C: " << std::endl;
for (std::size_t i = 0; i < cloud_c.size(); ++i)
std::cerr << " " << cloud_c[i].x << " " << cloud_c[i].y << " " << cloud_c[i].z << " " << std::endl;
}
else {
pcl::concatenateFields(cloud_a, n_cloud_b, p_n_cloud_c); // col concat
std::cerr << "Cloud C: " << std::endl;
for (std::size_t i = 0; i < p_n_cloud_c.size(); ++i)
std::cerr << " " << p_n_cloud_c[i].x << " " << p_n_cloud_c[i].y << " " << p_n_cloud_c[i].z << " " <<
p_n_cloud_c[i].normal[0] << " " << p_n_cloud_c[i].normal[1] << " " << p_n_cloud_c[i].normal[2] << std::endl;
}
return (0);
}
三、参考
Concatenate the points of two Point Clouds — Point Cloud Library 0.0 documentation