本文整理汇总了C++中PCDWriter::writeASCIIEigen方法的典型用法代码示例。如果您正苦于以下问题：C++ PCDWriter::writeASCIIEigen方法的具体用法？C++ PCDWriter::writeASCIIEigen怎么用？C++ PCDWriter::writeASCIIEigen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PCDWriter的用法示例。
在下文中一共展示了PCDWriter::writeASCIIEigen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: computeFeatures
// TODO Enum for is_test_phase
PointCloud<Signature>::Ptr
Detector::obtainFeatures(Scene &scene, PointCloud<PointNormal>::Ptr keypoints, bool is_test_phase, bool cache)
{
if (cache == false)
{
PointCloud<Signature>::Ptr features = computeFeatures(scene.cloud, keypoints);
return features;
}
else
{
std::string name_str = std::string(feature_est_->name_) + scene.id;
if (is_test_phase) {
name_str += "_test";
}
else {
name_str += "_train";
}
name_str += ".pcd";
const char *name = name_str.c_str();
if (ifstream(name)) {
PointCloud<Signature>::Ptr features (new PointCloud<Signature>());
PCDReader r;
r.readEigen(std::string(name), *features);
//*features = *tmp;
//io::loadPCDFile(name, *features);
if (features->size() != keypoints->size())
assert(false);
cout << "got " << features->size() << " features from " << keypoints->size() << " points" << endl;
return features;
} else {
PointCloud<Signature>::Ptr features = computeFeatures(scene.cloud, keypoints);
PCDWriter w;
w.writeASCIIEigen(std::string(name), *features);
return features;
}
}
}