#include 
#include       //io模块 
#include    //数据类型intmain (int argc, char** argv)
{if (argc != 2) //提示如果执行可执行文件输入两个参数 -f 或者-p
  {std::cerr << "please specify command line arg '-f' or '-p'" << std::endl;exit(0);}//申明三个pcl::PointXYZ点云数据类型，分别为cloud_a, cloud_b, cloud_cpcl::PointCloud cloud_a, cloud_b, cloud_c;//存储进行连接时需要的Normal点云,Normal (float n_x, float n_y, float n_z)pcl::PointCloud n_cloud_b;//存储连接XYZ与normal后的点云pcl::PointCloud p_n_cloud_c;// 创建点云数据//设置cloud_a的个数为5cloud_a.width  = 5;cloud_a.height = cloud_b.height = n_cloud_b.height = 1; //设置都为无序点云cloud_a.points.resize (cloud_a.width * cloud_a.height); //总数if (strcmp(argv[1], "-p") == 0)   //判断是否为连接a+b=c(点云连接)
  {cloud_b.width  = 3;cloud_b.points.resize (cloud_b.width * cloud_b.height);}else{n_cloud_b.width = 5; //如果是连接XYZ与normal则生成5个法线（字段间连接）n_cloud_b.points.resize (n_cloud_b.width * n_cloud_b.height);}
//以下循环生成无序点云填充上面定义的两种类型的点云数据for (size_t i = 0; i < cloud_a.points.size (); ++i){  //cloud_a产生三个点（每个点都有X Y Z 三个随机填充的值）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){   //如果连接a+b=c，则cloud_b用三个点作为xyz的数据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);}elsefor (size_t i = 0; i < n_cloud_b.points.size (); ++i){  //如果连接xyz+normal=xyznormal则n_cloud_b用5个点作为normal数据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);}
/*******************************************************************
定义了连接点云会用到的5个点云对象：3个输入（cloud_a cloud_b 和n_cloud_b）
两个输出（cloud_c  n_cloud_c）然后就是为两个输入点云cloud_a和 cloud_b或者cloud_a 和n_cloud_b填充数据  ********************************************************************/
//输出Cloud Astd::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;
//输出Cloud Bstd::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//输出n_Cloud_bfor (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;// Copy the point cloud dataif (strcmp(argv[1], "-p") == 0){cloud_c  = cloud_a;cloud_c += cloud_b;//把cloud_a和cloud_b连接一起创建cloud_c  后输出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{  //连接字段  把cloud_a和 n_cloud_b字段连接 一起创建 p_n_cloud_c)
    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);
}