我对何时使用和感到困惑。
例如,使用这些定义,和:
例如,使用这些定义,和:
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pcl1_ptrA(new pcl::PointCloud<pcl::PointXYZRGB>); //pointer for color version of pointcloud
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pcl1_ptrB(new pcl::PointCloud<pcl::PointXYZRGB>); //ptr to hold filtered Kinect image
pcl::PointCloud<pcl::PointXYZRGB>::Ptr pcl1_ptrC(new pcl::PointCloud<pcl::PointXYZRGB>); //ptr to hold filtered Kinect image
我可以调用以下PCL函数:
pcl::VoxelGrid<pcl::PointXYZRGB> vox;
vox.setInputCloud(pcl1_ptrA);
vox.setLeafSize(0.02f, 0.02f, 0.02f);
vox.filter(*pcl1_ptrB);
cout<<"done voxel filtering"<<endl;
cout<<"num bytes in original cloud data = "<<pcl1_ptrA->points.size()<<endl;
cout<<"num bytes in filtered cloud data = "<<pcl1_ptrB->points.size()<<endl; // ->data.size()<<endl;
Eigen::Vector4f xyz_centroid;
pcl::compute3DCentroid (*pcl1_ptrB, xyz_centroid);
float curvature;
Eigen::Vector4f plane_parameters;
pcl::computePointNormal(*pcl1_ptrB, plane_parameters, curvature); //pcl fnc to compute plane fit to point cloud
Eigen::Affine3f A(Eigen::Affine3f::Identity());
pcl::transformPointCloud(*pcl1_ptrB, *pcl1_ptrC, A);
然而,如果我使用pcl::PCLPointCloud2
对象,例如:
pcl::PCLPointCloud2::Ptr pcl2_ptrA (new pcl::PCLPointCloud2 ());
pcl::PCLPointCloud2::Ptr pcl2_ptrB (new pcl::PCLPointCloud2 ());
pcl::PCLPointCloud2::Ptr pcl2_ptrC (new pcl::PCLPointCloud2 ());
这个函数的作用如下:
pcl::VoxelGrid<pcl::PCLPointCloud2> vox;
vox.setInputCloud(pcl2_ptrA);
vox.setLeafSize(0.02f, 0.02f, 0.02f);
vox.filter(*pcl2_ptrB);
但是这些代码甚至不能编译:
//the next 3 functions do NOT compile:
Eigen::Vector4f xyz_centroid;
pcl::compute3DCentroid (*pcl2_ptrB, xyz_centroid);
float curvature;
Eigen::Vector4f plane_parameters;
pcl::computePointNormal(*pcl2_ptrB, plane_parameters, curvature);
Eigen::Affine3f A(Eigen::Affine3f::Identity());
pcl::transformPointCloud(*pcl2_ptrB, *pcl2_ptrC, A);
我在寻找哪些函数接受哪些对象方面遇到了困难。理想情况下,所有PCL函数都应该接受参数吧?