本文整理汇总了C++中DataPoints::allocateDescriptor方法的典型用法代码示例。如果您正苦于以下问题：C++ DataPoints::allocateDescriptor方法的具体用法？C++ DataPoints::allocateDescriptor怎么用？C++ DataPoints::allocateDescriptor使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类DataPoints的用法示例。
在下文中一共展示了DataPoints::allocateDescriptor方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: dim
void ObservationDirectionDataPointsFilter<T>::inPlaceFilter(DataPoints& cloud)
{
const int dim(cloud.features.rows() - 1);
const int featDim(cloud.features.cols());
if (dim != 2 && dim != 3)
{
throw InvalidField(
(boost::format("ObservationDirectionDataPointsFilter: Error, works only in 2 or 3 dimensions, cloud has %1% dimensions.") % dim).str()
);
}
Vector center(dim);
center[0] = centerX;
center[1] = centerY;
if (dim == 3)
center[2] = centerZ;
cloud.allocateDescriptor("observationDirections", dim);
BOOST_AUTO(observationDirections, cloud.getDescriptorViewByName("observationDirections"));
for (int i = 0; i < featDim; ++i)
{
// Check normal orientation
const Vector p(cloud.features.block(0, i, dim, 1));
observationDirections.col(i) = center - p;
}
}示例2: squaredValues
void SimpleSensorNoiseDataPointsFilter<T>::inPlaceFilter(DataPoints& cloud)
{
cloud.allocateDescriptor("simpleSensorNoise", 1);
BOOST_AUTO(noise, cloud.getDescriptorViewByName("simpleSensorNoise"));
switch(sensorType)
{
case 0: // Sick LMS-1xx
{
noise = computeLaserNoise(0.012, 0.0068, 0.0008, cloud.features);
break;
}
case 1: // Hokuyo URG-04LX
{
noise = computeLaserNoise(0.028, 0.0013, 0.0001, cloud.features);
break;
}
case 2: // Hokuyo UTM-30LX
{
noise = computeLaserNoise(0.018, 0.0006, 0.0015, cloud.features);
break;
}
case 3: // Kinect / Xtion
{
const int dim = cloud.features.rows();
const Matrix squaredValues(cloud.features.topRows(dim-1).colwise().norm().array().square());
noise = squaredValues*(0.5*0.00285);
break;
}
case 4: // Sick Tim3xx
{
noise = computeLaserNoise(0.004, 0.0053, -0.0092, cloud.features);
break;
}
default:
throw InvalidParameter(
(boost::format("SimpleSensorNoiseDataPointsFilter: Error, cannot compute noise for sensorType id %1% .") % sensorType).str());
}
}