《PCL》点云复制

pcl/common/io.h

1. 将给定点云的索引提取为新的点云

Template<typename PointT> void
copyPointCloud(const pcl::PointCloud<PointT> &cloud_in,
               const std::vector<int> &incices,
               pcl::PointCloud<PointT> &cloud_out)
{
    if(indices.size()==cloud_in.points.size())
    {
      cloud_out=cloud_in;
      return;
    }
    cloud_out.points.resize(indices.size());
    cloud_out.header=cloud_in.header;
    cloud_out.width=static_cast<uint32_t>(indices.size());
    cloud_out.height   = 1;
    cloud_out.is_dense = cloud_in.is_dense;
    cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
    cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
    for(size_t i = 0; i < indices.size(); ++i)
    { 
      cloud_out[i] = cloud_in[indices[i]];
    }
}

2. 将给定点云中的所有字段复制到新的点云中

template <typename PointInT, typename PointOutT> void
pcl::copyPointCloud (const pcl::PointCloud<PointInT> &cloud_in,
                     pcl::PointCloud<PointOutT> &cloud_out)
{
  // Allocate enough space and copy the basics
  cloud_out.header   = cloud_in.header;
  cloud_out.width    = cloud_in.width;
  cloud_out.height   = cloud_in.height;
  cloud_out.is_dense = cloud_in.is_dense;
  cloud_out.sensor_orientation_ = cloud_in.sensor_orientation_;
  cloud_out.sensor_origin_ = cloud_in.sensor_origin_;
  cloud_out.points.resize (cloud_in.points.size ());

  if (cloud_in.points.size () == 0)
    return;

  if (isSamePointType<PointInT, PointOutT> ())
    // Copy the whole memory block
    memcpy (&cloud_out.points[0], &cloud_in.points[0], cloud_in.points.size () * sizeof (PointInT));
  else
    // Iterate over each point
    for (size_t i = 0; i < cloud_in.points.size (); ++i)
      copyPoint (cloud_in.points[i], cloud_out.points[i]);
}