Sample code to concatenate ROS PointCloud (not PointCloud2) data

merge-ros-pointcloud.cpp

/**
 * \brief Function to merge the vectors of geometry_msgs::Point32
 * \param vin : input vector
 * \param vout : output vector (output value)
 */
void merge_point32_vector(const std::vector<geometry_msgs::Point32>& vin, std::vector<geometry_msgs::Point32>& vout)
{
    vout.reserve(vout.size() + vin.size());
    vout.insert(vout.end(), vin.begin(), vin.end());
}

/**
 * \brief Function to merge two PointCloud data after checking if they are in they have the same `frame_id`.
 * \param cloud_in1, cloud_in2 : Two input PointClouds
 * \param cloud_out : Output PointCloud
 * \return true if succesful and false otherwise
 */
bool merge_point_cloud(const sensor_msgs::PointCloud& cloud_in1, const sensor_msgs::PointCloud& cloud_in2, sensor_msgs::PointCloud& cloud_out)
{
    // check if both have the same frame_id
    if(cloud_in1.header.frame_id != cloud_in2.header.frame_id)
        return false;
    // set cloud_out frame_id
    cloud_out.header.frame_id = cloud_in1.header.frame_id;
    // merge the clouds one by one
    merge_point32_vector(cloud_in1.points, cloud_out.points);
    merge_point32_vector(cloud_in2.points, cloud_out.points);
    return true;
}

This is really good, works like a charm.
Thanks !

It's possible to do that in Python? I have installed the pcl library, but dont get the required imports and functions