本文整理汇总了C++中DataPoints::descriptors方法的典型用法代码示例。如果您正苦于以下问题：C++ DataPoints::descriptors方法的具体用法？C++ DataPoints::descriptors怎么用？C++ DataPoints::descriptors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::descriptors方法的1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: numPoints
void DataPointsFiltersImpl<T>::VoxelGridDataPointsFilter::inPlaceFilter(DataPoints& cloud)
{
const int numPoints(cloud.features.cols());
const int featDim(cloud.features.rows());
const int descDim(cloud.descriptors.rows());
assert (featDim == 3 || featDim == 4);
int insertDim(0);
if (averageExistingDescriptors)
{
// TODO: this should be in the form of an assert
// Validate descriptors and labels
for(unsigned int i = 0; i < cloud.descriptorLabels.size(); i++)
insertDim += cloud.descriptorLabels[i].span;
if (insertDim != descDim)
throw InvalidField("VoxelGridDataPointsFilter: Error, descriptor labels do not match descriptor data");
}
// TODO: Check that the voxel size is not too small, given the size of the data
// Calculate number of divisions along each axis
Vector minValues = cloud.features.rowwise().minCoeff();
Vector maxValues = cloud.features.rowwise().maxCoeff();
T minBoundX = minValues.x() / vSizeX;
T maxBoundX = maxValues.x() / vSizeX;
T minBoundY = minValues.y() / vSizeY;
T maxBoundY = maxValues.y() / vSizeY;
T minBoundZ = 0;
T maxBoundZ = 0;
if (featDim == 4)
{
minBoundZ = minValues.z() / vSizeZ;
maxBoundZ = maxValues.z() / vSizeZ;
}
// number of divisions is total size / voxel size voxels of equal length + 1
// with remaining space
unsigned int numDivX = 1 + maxBoundX - minBoundX;
unsigned int numDivY = 1 + maxBoundY - minBoundY;;
unsigned int numDivZ = 0;
// If a 3D point cloud
if (featDim == 4 )
numDivZ = 1 + maxBoundZ - minBoundZ;
unsigned int numVox = numDivX * numDivY;
if ( featDim == 4)
numVox *= numDivZ;
// Assume point cloud is randomly ordered
// compute a linear index of the following type
// i, j, k are the component indices
// nx, ny number of divisions in x and y components
// idx = i + j * nx + k * nx * ny
std::vector<unsigned int> indices(numPoints);
// vector to hold the first point in a voxel
// this point will be ovewritten in the input cloud with
// the output value
std::vector<Voxel>* voxels;
// try allocating vector. If too big return error
try {
voxels = new std::vector<Voxel>(numVox);
} catch (std::bad_alloc&) {
throw InvalidParameter((boost::format("VoxelGridDataPointsFilter: Memory allocation error with %1% voxels. Try increasing the voxel dimensions.") % numVox).str());
}
for (int p = 0; p < numPoints; p++ )
{
unsigned int i = floor(cloud.features(0,p)/vSizeX - minBoundX);
unsigned int j = floor(cloud.features(1,p)/vSizeY- minBoundY);
unsigned int k = 0;
unsigned int idx;
if ( featDim == 4 )
{
k = floor(cloud.features(2,p)/vSizeZ - minBoundZ);
idx = i + j * numDivX + k * numDivX * numDivY;
}
else
{
idx = i + j * numDivX;
}
unsigned int pointsInVox = (*voxels)[idx].numPoints + 1;
if (pointsInVox == 1)
{
(*voxels)[idx].firstPoint = p;
}
(*voxels)[idx].numPoints = pointsInVox;
indices[p] = idx;
//.........这里部分代码省略.........