/*
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 *
 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2009-2011, Willow Garage, Inc.
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 *   notice, this list of conditions and the following disclaimer.
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 *   copyright notice, this list of conditions and the following
 *   disclaimer in the documentation and/or other materials provided
 *   with the distribution.
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 *   contributors may be used to endorse or promote products derived
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 *
 * $Id: example_OrganizedPointCloud.cpp 4258 2012-02-05 15:06:20Z daviddoria $
 *
 */

// STL
#include <iostream>

// PCL
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

int 
main ()
{
  // Setup the cloud
  using PointType = pcl::PointXYZ;
  using CloudType = pcl::PointCloud<PointType>;
  CloudType::Ptr cloud (new CloudType);
  
  // Make the cloud a 10x10 grid
  cloud->height = 10;
  cloud->width = 10;
  cloud->is_dense = true;
  cloud->resize(cloud->height * cloud->width);

  // Output the (0,0) point
  std::cout << (*cloud)(0,0) << std::endl;

  // Set the (0,0) point
  PointType p; p.x = 1; p.y = 2; p.z = 3;
  (*cloud)(0,0) = p;

  // Confirm that the point was set
  std::cout << (*cloud)(0,0) << std::endl;

  return (0);
}
