1.3 论文流程代码

C++基础：C++ vector 容器 | 菜鸟教程 (runoob.com)https://www.runoob.com/cplusplus/cpp-vector.html

1 构建LRF(TOLDI_LRF.cpp)

1.1 z轴

void TOLDI_LRF_Z_axis(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, Vertex& z_axis)

1.2 x轴

void TOLDI_LRF_X_axis(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, Vertex z_axis, float sup_radius, vector<float> PointDist, Vertex& x_axis)

1.3 y轴

void TOLDI_LRF_Y_axis(Vertex x_axis, Vertex z_axis, Vertex& y_axis)

1.4计算出索引点i的x，y，z轴的局部坐标参考系

void TOLDI_LRF_for_cloud_compute(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, vector<int> indices, float sup_radius, vector<LRF>& Cloud_LRF)