pcl_tutorial/lec00_usage.cpp at main · LimHyungTae/pcl_tutorial · GitHub

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//
// Tutorial Author: shapelim@kaist.ac.kr (임형태)

#include <pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>

using namespace std;

template<class T>
void print_pc(pcl::PointCloud<T> &cloud) {
    int count = 0;
    for (const auto &pt: cloud.points) {
        cout << count++ << ": ";
        cout << pt.x << ", " << pt.y << ", " << pt.z << endl;
    }
}

int main(int argc, char **argv) {
    pcl::PointCloud<pcl::PointXYZ> cloud_init0;
    cloud_init0.resize(3); //cloud의 size를 3으로 설정

    cloud_init0.points[0].x = 1;
    cloud_init0.points[0].y = 2;
    cloud_init0.points[0].z = 3;
    cloud_init0.points[1].x = 4;
    cloud_init0.points[1].y = 5;
    cloud_init0.points[1].z = 6;
    cloud_init0.points[2].x = 7;
    cloud_init0.points[2].y = 8;
    cloud_init0.points[2].z = 9;
    cout << "cloud_init0:  " << endl;
    print_pc(cloud_init0);
    cout << "==============" << endl;

    pcl::PointCloud<pcl::PointXYZ> cloud_init1;
    pcl::PointXYZ                  point_xyz; // pcl::PointXYZ이라는 type에 data를 담는다.

    point_xyz.x = 1;
    point_xyz.y = 2;
    point_xyz.z = 3;
    cloud_init1.push_back(point_xyz);
    point_xyz.x = 4;
    point_xyz.y = 5;
    point_xyz.z = 6;
    cloud_init1.push_back(point_xyz);
    point_xyz.x = 7;
    point_xyz.y = 8;
    point_xyz.z = 9;
    cloud_init1.push_back(point_xyz);
    cout << "cloud_init1:  " << endl;
    print_pc(cloud_init1);
    cout << "==============" << endl;

    pcl::PointCloud<pcl::PointXYZ> cloud_init2;
    cloud_init2.push_back(pcl::PointXYZ(1, 2, 3));
    cloud_init2.push_back(pcl::PointXYZ(4, 5, 6));
    cloud_init2.push_back(pcl::PointXYZ(7, 8, 9));
    cout << "cloud_init2:  " << endl;
    print_pc(cloud_init2);
    cout << "==============" << endl;

    pcl::PointCloud<pcl::PointXYZ> cloud2;
    cloud2.push_back(pcl::PointXYZ(1, 2, 3));
    cloud2.push_back(pcl::PointXYZ(4, 5, 6));


    pcl::PointCloud<pcl::PointXYZ> cloud3;
    cloud3.push_back(pcl::PointXYZ(7, 8, 9));
    cloud3.push_back(pcl::PointXYZ(10, 11, 12));

    cloud2 += cloud3;

    cout << "size: " << cloud2.size() << endl;
    print_pc(cloud2);

    cloud3.push_back(pcl::PointXYZ(12, 13, 14));
    cout << "After: " << endl;
    print_pc(cloud3);

}