基础知识 1：PCL连接两片点云

得到点云面片后经过一系列的处理（滤波、平滑、ICP等），往往涉及到点云的连接，这里简单测试两片点云的连接。

1：非Ptr格式的点云

a:直接连接

    pcl::PointCloud<pcl::PointXYZ> cloud_a, cloud_b, cloud_c;
    cloud_a.width = 5;
    cloud_a.height = cloud_b.height = n_cloud_b.height = 1;
    cloud_a.points.resize(cloud_a.width*cloud_a.height);
    cloud_b.width = 3;
    cloud_b.points.resize(cloud_b.width * cloud_b.height);
    for (size_t i = 0; i < cloud_a.points.size(); ++i)//生成随机点云a
    {
	cloud_a.points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
	cloud_a.points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
	cloud_a.points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
    }
    std::cerr << "cloud A:" << std::endl;//输出生成的随机点云a
    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;
	
    for (size_t i = 0; i <cloud_b.points.size(); ++i)//生成随机点云b
   {
	cloud_b.points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
	cloud_b.points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
	cloud_b.points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
	}
    std::cerr << "cloud B:" << std::endl;//输出生成的随机点云b
    for (size_t i = 0; i < cloud_b.points.size(); ++i)
    std::cerr << " " << cloud_b.points[i].x << " " << cloud_b.points[i].y << " " << cloud_b.points[i].z << std::endl;

    cloud_c = cloud_a;
    cloud_c += cloud_b;//连接两片点云
    std::cerr << "cloud C:" << std::endl;//输出两片点云
    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 << " " << std::endl;

b:连接字段

      pcl::PointCloud<pcl::PointXYZ> cloud_a;//xyz字段
      pcl::PointCloud<pcl::Normal> n_cloud_b;//法线字段
      pcl::PointCloud<pcl::PointNormal> p_n_cloud_c;//连接后的字段

    cloud_a.width = 5;
    cloud_a.height = cloud_b.height = n_cloud_b.height = 1;
    cloud_a.points.resize(cloud_a.width*cloud_a.height);
    n_cloud_b.width = 5;
    n_cloud_b.points.resize(n_cloud_b.width * n_cloud_b.height);
    for (size_t i = 0; i < cloud_a.points.size(); ++i)//生成随机点云a
    {
	cloud_a.points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
	cloud_a.points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
	cloud_a.points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
    }
    std::cerr << "cloud A:" << std::endl;//输出生成的随机点云a
    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;

for (size_t i = 0; i < n_cloud_b.size(); ++i)//生成随机点云B
{
n_cloud_b.points[i].normal[0] = 1024 * rand() / (RAND_MAX + 1.0f);
n_cloud_b.points[i].normal[1] = 1024 * rand() / (RAND_MAX + 1.0f);
n_cloud_b.points[i].normal[2] = 1024 * rand() / (RAND_MAX + 1.0f);
}

std::cerr<<"cloud B:"<<std::cerr::endl;//输出生成的随机点云b 、	
for (size_t i = 0; i < n_cloud_b.points.size(); ++i)
std::cerr << " " << n_cloud_b.points[i].normal[0] << " " << n_cloud_b.points[i].normal[1] << " " << n_cloud_b.points[i].normal[2] << std::endl;
pcl::concatenateFields(cloud_a, n_cloud_b, p_n_cloud_c);
std::cerr << "cloud C:" << std::endl;
for (size_t i = 0; i < p_n_cloud_c.size(); ++i)
{
std::cerr << " " << p_n_cloud_c.points[i].x << " " << p_n_cloud_c.points[i].y << " " << p_n_cloud_c.points[i].z << " "
				<< p_n_cloud_c.points[i].normal[0] << " " << p_n_cloud_c.points[i].normal[1] << " " << p_n_cloud_c.points[i].normal[2] << std::endl;
}

2：Ptr格式的点云。载入pcd数据然后连接。

        pcl::PointCloud<pcl::PointXYZ>::Ptr c1(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr c2(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr c3(new pcl::PointCloud<pcl::PointXYZ>);

	pcl::io::loadPCDFile("0.pcd", *c1);
	pcl::io::loadPCDFile("1.pcd", *c2);

	std::vector<pcl::PointCloud<pcl::PointXYZ>> combine_point;	
	combine_point.push_back(*c1);
	combine_point.push_back(*c2);

	for (size_t i=0;i<combine_point.size();i++)
	{
		*c3 += combine_point[i];
	}
	pcl::io::savePCDFile("c3.pcd", *c3);