点云随笔（八）经纬线法求解点云边界

       经纬线法就如同地球上经线纬线然后从左至右以及从上至下扫描，在一定区域判断最低点和最高点或者是最左点和最右点，有点类似格网法。

void LL_scanning_boundary(double grid_size,pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud, pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud2) //经纬线法边界扫描
{
    pcl::PointXYZ maxpt, minpt;
    pcl::getMinMax3D(*cloud, minpt, maxpt);
    vector<int> save;
    int rows = (maxpt.y - minpt.y) / grid_size + 1, cols = (maxpt.x - minpt.x) / grid_size + 1;
    for (int i{ 0 }; i < rows; i++) {
        vector<pair<double, int>> pairs; int n{ 0 };
        for (int j{ 0 }; j < cloud->size(); j++)
        {
            if (cloud->points[j].y<(grid_size * (i + 1) + minpt.y) && cloud->points[j].y >(grid_size * i + minpt.y)) 
            {
                pairs.push_back(make_pair(cloud->points[j].x, j));
                n += 1;
            }    
        }
        sort(pairs.begin(), pairs.end());
        save.push_back(pairs[n - 1].second); save.push_back(pairs[0].second);
    }
    for (int i{ 0 }; i < cols; i++) {
        vector<pair<double, int>> pairs; int n{ 0 };
        for (int j{ 0 }; j < cloud->size(); j++)
        {
            if (cloud->points[j].x<(grid_size * (i + 1) + minpt.x) && cloud->points[j].x >(grid_size * i + minpt.x))
            {
                pairs.push_back(make_pair(cloud->points[j].y, j));
                n += 1;
            }
        }
        sort(pairs.begin(), pairs.end());
        save.push_back(pairs[n - 1].second); save.push_back(pairs[0].second);
    }
    sort(save.begin(), save.end());
    save.erase(unique(save.begin(), save.end()), save.end());
    for (int i{ 0 }; i < save.size(); i++) {
        cloud2->push_back(cloud->points[save[i]]);
    }
    cloud2->width = cloud2->size();
    cloud2->height = 1;
    cloud2->points.resize(cloud2->width * cloud2->height);
}