pcl::PointCloud的内存分析,最关键的知识点是eigen数据的地址必须是16个字节对齐的,其他的都跟之前的一样。 我们再次回到《1106 小心neon指令集》这篇文章的结论,neon内存溢出,溢出到pcl::PointCloud的size的内存空间。 这个结论有问题,因为pcl::PointCloud中points的size大小是通过存储在栈空间上的起始和终止地址相...
/*填充源点云*/cloud_in->width =5;cloud_in->height =1;cloud_in->is_dense =false;cloud_in->points.resize (cloud_in->width * cloud_in->height);for(size_ti =0; i < cloud_in->points.size (); ++i){cloud_in->points[i].x =1024* rand () ...
const pcl::PointCloud<PointT> &cloud2) { // 更新时间戳,最新的 cloud1.header.stamp = std::max (cloud1.header.stamp, cloud2.header.stamp); // 数据插入到尾端就好了 cloud1.insert (cloud1.end (), cloud2.begin (), cloud2.end ()); cloud1.width = cloud1.size (); cloud1.height ...
(-1); } std::cout << "Loaded " << target_cloud->size() << " data points from room_scan1.pcd" << std::endl; // 加载从新视角得到的第二次扫描点云数据作为源点云 pcl::PointCloud<pcl::PointXYZ>::Ptr input_cloud(new pcl::PointCloud<pcl::PointXYZ>); if (pcl::io::loadPCD...
PointCloud<PointT>PointCloud;//点云可视化voidvisualize_pcd(PointCloud::Ptr pcd_src,PointCloud::Ptr pcd_tgt,PointCloud::Ptr pcd_final){// Create a PCLVisualizer objectpcl::visualization::PCLVisualizerviewer("registration Viewer");//viewer.createViewPort (0.0, 0, 0.5, 1.0, vp_1);// viewer....
cout<<"Loaded "<<cloud->width*cloud->height<<" data points from test_pcd.pcd with the following fields: "<<std::endl;/*遍历输出 各点云的内容*/for(size_ti=0;i<cloud->points.size();++i){std::cout<<" "<<cloud->points[i].x<<" "<<cloud->points[...
size (); ++i) { cloud_in->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f); cloud_in->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f); cloud_in->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f); } std::cout << "Saved " << cloud_in->points....
读取点云数据cloud=pcl.load("input.pcd")# 创建一个与点云中点数量相同的颜色数组colors=pcl.PointCloud()half_size=cloud.size//2colors.from_array([[255,0,0]]*half_size+[[0,255,0]]*(cloud.size-half_size))# 设置点云颜色cloud.rgb_colors=colors# 保存带有颜色的点云数据pcl.save(cloud,"...
20:48.808] [Net] 获取网络结果:http://pcl2-server-1253424809.file.myqcloud.com/notice.cfg?sign=1623316849-3c6f39db-0-73c64bafe2cc4003e8dcafc07de5fa03,最大超时 10000[1720:49.230] [Server] 服务器公告:33|215|214,无需更新[1720:49.334] [Minecraft] Java 路径:C:\Program Files\Common ...
int readPLYcloud(pcl::PointCloud<pcl::PointXYZ>::Ptr mycloud, string filename) { if (pcl::io::loadPLYFile<pcl::PointXYZ>(filename, *mycloud) == -1) { cout << "Couldnot read file." << endl; return -1; } cout << filename<<"cloud count:" << mycloud->points.size() <<...