连接两个点云的字段或数据形成新的点云

#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;
	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.height);
	}
	for (size_t i = 0; i<cloud_a.points.size(); ++i)
	{
		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);
	}
	if (strcmp(argv[1], "-p") == 0)
		for (size_t i = 0; i<cloud_b.points.size(); ++i)
		{
			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);
		}
	else
		for (size_t i = 0; i<n_cloud_b.points.size(); ++i)
		{
			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 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;
	if (strcmp(argv[1], "-p") == 0)
		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;
	else
		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;


	//拷贝点云数据
	if (strcmp(argv[1], "-p") == 0)
	{
		cloud_c = cloud_a;
		cloud_c += cloud_b;
		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 << " " << std::endl;
	}
	else
	{
		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.points.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;
	}
	return(0);
}```