normal point cloud

/******************
Normal Writer

Input file:
Output file:
********************/


#include <iostream>
#include <string>
#include <fstream>
#include <iomanip>

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/features/normal_3d.h>

using namespace std;

string getFileName();

int main(int argc, char** argv)
{
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);

    //PCDÉtÉ@ÉCÉãÇì«Ç›çûÇfi
    cout << "Load PCD File Format" << endl;

    if(pcl::io::loadPCDFile<pcl::PointXYZRGB> (getFileName().c_str(), *cloud) == -1)
    {
        PCL_ERROR("Coudn't read file\n");
        return(-1);
    }

    //ñ@ê¸ÇÃåvéZ
    //cout << "ñ@ê¸ÇåvéZǵNjÇ∑" << endl;

    pcl::NormalEstimation <pcl::PointXYZRGB, pcl::Normal> ne;
    ne.setInputCloud (cloud);

    pcl::search::KdTree <pcl::PointXYZRGB>::Ptr tree (new pcl::search::KdTree <pcl::PointXYZRGB> ());
    ne.setSearchMethod (tree);
    ne.setRadiusSearch (0.03);

    //ñ@ê¸ÇÃåvéZåãâ éÊìæ
    pcl::PointCloud <pcl::Normal>::Ptr normals (new pcl::PointCloud <pcl::Normal>);
    ne.compute (*normals);

    /*
        ñ@ê¸ÇÃåvéZåãâ ÇÃèëÇ´èoǵ
        ÉtÉ@ÉCÉãÉtÉHÅ[É}ÉbÉgÇÕ
        x y z r g b normal_x normal_y normal_z
    */

    cout << "Output filename" << endl;
    ofstream ofs;
    ofs.open(getFileName().c_str());

    for(size_t i=0; i < cloud->points.size() ; i++)
    {
        ofs << setprecision(10)
            << fixed << cloud->points[i].x << " "
            << fixed << cloud->points[i].y << " "
            << fixed << cloud->points[i].z << " "
            << (int)cloud->points[i].r << " "
            << (int)cloud->points[i].g << " "
            << (int)cloud->points[i].b << " "
            << fixed << normals->points[i].normal_x << " "
            << fixed << normals->points[i].normal_y << " "
            << fixed << normals->points[i].normal_z << endl;
    }

    ofs.close();

    return(0);
}


string getFileName()
{
    fflush(stdin);
    std::cout << "Input file name:";
    std::string file_name;
    std::getline( std::cin, file_name );
    return file_name;
}