for (size_t i = 0; i < newPointIdxVector.size (); ++i) std::cout << i << "# Index:" << newPointIdxVector[i] << " Point:" << cloudB->points[newPointIdxVector[i]].x << " " << cloudB->points[newPointIdxVector[i]].y << " " << cloudB->points[newPointIdxVector[...
其中,cloud是包含点的输入点云,index表示来自cloud的k个最近邻居的集合,plane_parameters和curvature表示法线估计的输出,plane_p参数在前3个坐标上保持法线(nx,ny,nz),第四个坐标是D=nc.p_plane(此处为质心)+p。输出曲面曲率估计为协方差矩阵(如上所示)特征值之间的关系,如下所示: 有关该特性的详细描述,请参...
如indexs代表点云中某些特定的点,如排序为第1,2,5三个点,这些顺序通常是有kdtree得到的。如果没有这个参数,就是将cloud中所有的点全部填入到cloudout。 (2)通过索引迭代输出每个聚类对应的点云 pcl::EuclideanClusterExtractionec; ec.extract (cluster_indices); std::cerr << cluster_indices.size() << st...
pcl::io::loadPCDFile<pcl::PointXYZ>("bun0.pcd", *cloud); pcl::PointCloud<pcl::PointXYZ>::iterator index = cloud->begin(); cloud->erase(index);//删除第一个 index = cloud->begin() + 5; cloud->erase(cloud->begin());//删除第5个 pcl::PointXYZ point = { 1, 1, 1 }; //...
std::vector<int > indexs = { 1, 2, 5 }; pcl::copyPointCloud(*cloud, indexs, *cloudOut); 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 5、如何从点云里删除和添加点 #include <pcl/io/pcd_io.h> #include <pcl/common/impl/io.hpp> ...
PCL 1.12.0 enables custom index size and type, from int16_t to uint64_t, allowing users to have as small or large clouds as they wish. 1.12 also comes with improved support for VTK and CUDA, along with making existing functionality more user friendly. This is all on top of the usual...
constchar*getConnectionString(unsignedindex)constthrow()获取索引为index的设备连接字符串,但该设备未被创建。voidstopAll()停止所有设备。staticOpenNIDriver&getInstance()为静态成员函数,获取唯一的设备实例。staticvoidgetDeviceType(conststd::string&connection_string,unsignedshort&vendorId,unsignedshort&productId);...
# for i in range(0, ind.size): for i in range(0, ind.size): print('index = ' + str(ind[i])) print('(' + str(cloud[ind[i]][0]) + ' ' + str(cloud[ind[i]][1]) + ' ' + str(cloud[ind[i]][2])) ##
PCLcommon中常见的基础功能函数pcl_common中主要是包含了PCL库常⽤的公共数据结构和⽅法，⽐如PointCloud的类和许多⽤于表⽰ 点，曲⾯，法向量，特征描述等点的类型，⽤于计算距离，均值以及协⽅差，⾓度转换以及⼏何变化的函数。对于各种点，特征的类型的数据结构在这⾥就不再⼀⼀举例说明，...
std::cerr<<"PointCloud before filtering: "<<cloud_in->size()<<" data points ("<<pcl::getFieldsList(*cloud_in)<<" )"<<std::endl;//cerr输出为红色//体素滤波//创建体素网格采样处理对象pcl::VoxelGrid<pcl::PointXYZI> sor;//设置输入点云sor.setInputCloud(cloud_in);//设置体素大小,单位...