PCL复制点云

最新推荐文章于 2023-10-08 14:59:12 发布

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最新推荐文章于 2023-10-08 14:59:12 发布

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分类专栏： PCL示例代码文章标签： c++

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可以不同类型，但是目标点云必须含有源点云的字段。
代码如下：

// STL
#include <iostream>

// PCL
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/io.h>

static void
sameType ();

static void
differenceType ();

// We show this function as an example of what you cannot do.
// static void
// badConversion ();

int
main ()
{
  sameType();
  differenceType();
  // badConversion();
  return 0;
}

void
sameType ()
{
  typedef pcl::PointCloud<pcl::PointXYZ> CloudType;
  CloudType::Ptr cloud (new CloudType);

  CloudType::PointType p;
  p.x = 1; p.y = 2; p.z = 3;
  cloud->push_back(p);
  std::cout << p.x << " " << p.y << " " << p.z << std::endl;

  CloudType::Ptr cloud2(new CloudType);
  copyPointCloud(*cloud, *cloud2);

  CloudType::PointType p_retrieved = cloud2->points[0];
  std::cout << p_retrieved.x << " " << p_retrieved.y << " " << p_retrieved.z << std::endl;
}

void
differenceType ()
{
  typedef pcl::PointCloud<pcl::PointXYZ> CloudType;
  CloudType::Ptr cloud (new CloudType);

  CloudType::PointType p;
  p.x = 1; p.y = 2; p.z = 3;
  cloud->push_back(p);
  std::cout << p.x << " " << p.y << " " << p.z << std::endl;

  typedef pcl::PointCloud<pcl::PointNormal> CloudType2;
  CloudType2::Ptr cloud2(new CloudType2);
  copyPointCloud(*cloud, *cloud2);

  CloudType2::PointType p_retrieved = cloud2->points[0];
  std::cout << p_retrieved.x << " " << p_retrieved.y << " " << p_retrieved.z << std::endl;
}