#include <pcl/features/3dsc.h> ShapeContext3DEstimation (bool random=false) // 构造函数 virtual ~ShapeContext3DEstimation () // 析构函数 size_t getAzimuthBins () // 获得沿方向角划分的数目。 size_t getElevationBins () // 获得沿俯仰角划分的数目。 size_t getRadiusBins () // 获得沿径向...
size_t LimitingFilter(size_t (*get_data)(void)) { static size_t last_data = 0; //记录上一次获取的数据 size_t new_data = 0; size_t filter_out_data = 0; new_data = get_data(); //获得新数据变量 if((new_data - last_data) > A || (last_data - new_data > A)) { filte...
PCL_ERROR("Couldn't read file rabbit.pcd\n"); return(-1); } std::cout << "Loaded:" << cloud->width*cloud->height<<"data points from test_pcd.pcd with the following fields:"<< std::endl; for (size_t i = 0; i < cloud->points.size(); ++i) { std::cout << " " << ...
void getVoxelBounds (const OctreeIteratorBase< OctreeT > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const //生成八叉树迭代器的当前体素的边界。 void enableDynamicDepth (size_t maxObjsPerLeaf) // 启用动态八叉树结构。 10.Class pcl::octree::OctreePointCloudChangeDetector...
PCL_ERROR("Couldn't read file test_pcd.pcd n"); return(-1); } 先读取点云,从 pcd文件读取点云。 //打印压缩前从文件中读取的点云 std::cout<<"before"<<std::endl; for(size_ti;i<cloud.points.size();++i) { std::cout<<"x="<<cloud.points[i].x<<"t"<<"y="<<cloud.points[...
for (size_t i = 0; i < cloud->points.size(); ++i) { if (cloud->points[i].z > max_z) { max_z = cloud->points[i].z; } } std::cout << "Max Z: " << max_z << std::endl; return 0; } ``` 这是一个简单的示例代码,它创建了一个包含5个随机坐标的点云,并找到点云...
for (size_t i = 0; i < in_radial_ordered_clouds.size(); i++) //sweep through each radial division 遍历每一根射线 { float prev_radius = 0.f; float prev_height = -SENSOR_HEIGHT; bool prev_ground = false; bool current_ground = false; for (size_t j = 0; j < in_radial_order...
for (size_t i = 0; i < cloud.points.size (); ++i) { cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f); cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f); cloud.points[i].z = 1024 * rand () / (RAND_MAX + 1.0f); ...
sensor_msgs::PointCloud2 globalMap_pcd;//对 PointCloud 的操作与对 points 的操作是一样的:size_tsize1 = pointcloud.size();boolflag1 = pointcloud.empty();// 等价操作size_tsize2 = pointcloud.points.size();boolflag2 = pointcloud.points.empty(); ...
size_t 整型，保存⼀个整数，记录⼀个⼤⼩（size） points.size（）表⽰点云数据⼤⼩ （2）数据可视化 #include<iostream> #include<pcl/io/pcd_io.h> #include<pcl/point_types.h> #include <pcl/visualization/cloud_viewer.h> int main(int argc, char** argv) { pcl::PointCloud<pcl...