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PointClouds Intersection Using PCL

Let's say I have two different ones pcl::PointCloud<pcl::PointXYZL>(although the point type really doesn't matter), c1and c2.

I would like to find the intersection of these two pointclouds. By intersection I mean a pointcloud interconstructed in such a way that a point pifrom is c1inserted into interif (and only if) there is a point pjin c2and

pi.x == pj.x && pi.y == pj.y && pi.z == pj.z

I am currently using the following functions for this:

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

using namespace pcl;

typedef PointXYZL PointLT;
typedef PointCloud<PointLT> PointLCloudT;

bool contains(PointLCloudT::Ptr c, PointLT p) {
    PointLCloudT::iterator it = c->begin();
    for (; it != c->end(); ++it) {
        if (it->x == p.x && it->y == p.y && it->z == p.z)
            return true;
    }
    return false;
}

PointLCloudT::Ptr intersection(PointLCloudT::Ptr c1,
        PointLCloudT::Ptr c2) {
    PointLCloudT::Ptr inter;
    PointLCloudT::iterator it = c1->begin();
    for (; it != c1->end(); ++it) {
        if (contains(c2, *it))
            inter->push_back(*it);
    }

    return inter;
}

I would like to know if there is a standard (and possibly more efficient) way to do this?

I did not find anything about this in the official documentation, but maybe I am missing something.

Thank.

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