【学习记录】copyPointCloud

copyPointCloud(*cloudOri, clusterOri[vector_cluster_before[i][1]], *cloudMain)
通过索引迭代输出每个聚类对应的点云

pcl::EuclideanClusterExtractionec; 
ec.extract (cluster_indices);
std::cerr << cluster_indices.size() << std::endl; 
//输出聚类的数目 int j = 0;//通过两次迭代，总共产生ｊ个聚类
for (std::vector::const_iterator it = cluster_indices.begin (); it != cluster_indices.end (); ++it)
//迭代j次将ｊ个聚类中对应索引的点存到j个pcd中
{ 
pcl::PointCloud::Ptr cloud_cluster (new pcl::PointCloud);

for (std::vector::const_iterator pit = it->indices.begin (); pit != it->indices.end (); pit++)
//每个it =cluster_indices.begin ()下面对应的it->indices.begin ()代表单个聚类包含的索引，indices[i]代表单个聚类中的第i个点
cloud_cluster->points.push_back (cloud_filtered->points[*pit]);
cloud_cluster->width = cloud_cluster->points.size ();
cloud_cluster->height = 1;
cloud_cluster->is_dense = true;
std::cout << "PointCloud representing the Cluster: " << cloud_cluster->points.size () << " data points." << std::endl;

std::stringstream ss;
ss << "/home/exbot/文档/pp/pcd/cloud_cluster_" << j << ".pcd"; writer.write(ss.str (), *cloud_cluster, false);
j++;

/* Dynamic naming

std::cout << "Cluster " << currentClusterNum << " has " << cluster->points.size() << " points." << std::endl;

std::string fileName = clusterType+"_cluster" + boost::to_string(currentClusterNum) + ".pcd";

pcl::io::savePCDFileASCII(fileName, *cluster);

currentClusterNum++;

*/

}
return (0);