11#include < iostream>
22#include < map>
33
4+ #ifdef PCL_INSTALLED
5+ #include < pcl/point_cloud.h>
6+ #include < pcl/point_types.h>
7+ #endif
8+ 49// https://stackoverflow.com/questions/2333728/stdmap-default-value
510// https://www.learncpp.com/cpp-tutorial/overloading-the-assignment-operator/
611// https://www.tutorialspoint.com/cplusplus/input_output_operators_overloading.htm
712// https://stackoverflow.com/questions/10744787/operator-must-take-exactly-one-argument
13+ // https://stackoverflow.com/questions/21569483/c-overloading-dereference-operators
814
915struct IntWithDefaultValue {
1016 int i = -1 ;
@@ -29,6 +35,36 @@ struct StringWithDefaultValue {
2935 }
3036};
3137
38+ #ifdef PCL_INSTALLED
39+ 40+ struct CloudPtrDefaultedToEmpty {
41+ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud =
42+ pcl::PointCloud<pcl::PointXYZ>::Ptr(
new pcl::PointCloud<pcl::PointXYZ>);
43+ operator pcl::PointCloud<pcl::PointXYZ>::Ptr()
const {
return cloud; }
44+ pcl::PointCloud<pcl::PointXYZ> & operator *() { return *cloud; }
45+ pcl::PointCloud<pcl::PointXYZ>::Ptr operator ->() { return cloud; }
46+ pcl::PointCloud<pcl::PointXYZ>::Ptr &operator =(
47+ const pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_in) {
48+ cloud = cloud_in;
49+ return cloud;
50+ }
51+ };
52+ 53+ struct CloudIPtrDefaultedToEmpty {
54+ pcl::PointCloud<pcl::PointXYZI>::Ptr cloud =
55+ pcl::PointCloud<pcl::PointXYZI>::Ptr(
56+ new pcl::PointCloud<pcl::PointXYZI>);
57+ operator pcl::PointCloud<pcl::PointXYZI>::Ptr()
const {
return cloud; }
58+ pcl::PointCloud<pcl::PointXYZI> & operator *() { return *cloud; }
59+ pcl::PointCloud<pcl::PointXYZI>::Ptr operator ->() { return cloud; }
60+ pcl::PointCloud<pcl::PointXYZI>::Ptr &operator =(
61+ const pcl::PointCloud<pcl::PointXYZI>::Ptr &cloud_in) {
62+ cloud = cloud_in;
63+ return cloud;
64+ }
65+ };
66+ #endif
67+ 3268int main () {
3369 std::map<std::string, IntWithDefaultValue> intmap;
3470 std::cout << intmap[" hello" // -1
@@ -37,5 +73,33 @@ int main() {
3773
3874 std::map<std::string, StringWithDefaultValue> strmap;
3975 std::cout << strmap[" a" // defaultstring
76+ 77+ #ifdef PCL_INSTALLED
78+ CloudPtrDefaultedToEmpty cloud1, cloud2;
79+ std::cout << cloud1->size () << std::endl;
80+ 81+ for (size_t i = 0 ; i < 10 ; ++i) {
82+ cloud1->push_back (pcl::PointXYZ (1 .0f * i, 2 .0f * i, 3 .0f * i));
83+ }
84+ std::cout << cloud1->size () << std::endl;
85+ 86+ for (size_t i = 0 ; i < 10 ; ++i) {
87+ cloud2->push_back (pcl::PointXYZ (-1 .0f * i, -2 .0f * i, -3 .0f * i));
88+ }
89+ std::cout << cloud2->size () << std::endl;
90+ 91+ *cloud1 += *cloud2;
92+ std::cout << cloud1->size () << std::endl;
93+ #endif
4094 return 0 ;
4195}
96+ 97+ /*
98+ -1
99+ 2
100+ defaultstring
101+ 0
102+ 10
103+ 10
104+ 20
105+ */
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