concatenate_clouds

concatenate_clouds.cpp

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

int main(int argc,char** argv)
{
    if(argc!=2)
    {
        std::cerr<<"please specify command line arg '-f' or '-p'"<<std::endl;
        exit(0);
    }
    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;
    // 创建点云
    cloud_a.width=5;
    cloud_a.height=cloud_b.height=n_cloud_b.height=1;       //设置为无序点云
    cloud_a.points.resize(cloud_a.width*cloud_a.height);
    if(strcmp(argv[1],"-p")==0)
    {
        cloud_b.width=3;
        cloud_b.points.resize(cloud_b.width*cloud_b.height);
    }
    else
    {
        n_cloud_b.width=5;
        n_cloud_b.points.resize(n_cloud_b.width*n_cloud_b.heigh