MATLAB
Sun Shiteng
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计算点云厚度
close all clc clear all ptCloud = pcread('./门口外墙_有校正.pcd'); thickness_sum=0; for i=1:10000 [model,inlierIndices,outlierIndices,meanError] = pcfitplane(ptCloud,0.125, 'MaxNumTrials',30000); dd=ptCloud.Location*model.Parameters(1:3).'+model.Paramete原创 2021-11-23 18:53:40 · 803 阅读 · 0 评论 -
读.bag中指定的topic / 将.bag中的点云保存为.pcd
close all clc clear all fid = fopen('Training.txt','w'); bag=rosbag('Training.bag'); BagSel1 = select(bag,'Topic','/NewTopic'); BagSel2 = select(bag,'Topic','/NewTopicCloud'); MsgStructs1 = readMessages(BagSel1,'DataFormat','struct'); MsgStructs2 = read原创 2021-11-23 18:50:04 · 256 阅读 · 0 评论