本文整理汇总了C++中Pointcloud::size方法的典型用法代码示例。如果您正苦于以下问题：C++ Pointcloud::size方法的具体用法？C++ Pointcloud::size怎么用？C++ Pointcloud::size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Pointcloud的用法示例。
在下文中一共展示了Pointcloud::size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: main
int main(int argc, char** argv) {
// default values:
double res = 0.1;
if (argc < 2)
printUsage(argv[0]);
string graphFilename = std::string(argv[1]);
double maxrange = -1;
int max_scan_no = -1;
int skip_scan_eval = 5;
int arg = 1;
while (++arg < argc) {
if (! strcmp(argv[arg], "-i"))
graphFilename = std::string(argv[++arg]);
else if (! strcmp(argv[arg], "-res"))
res = atof(argv[++arg]);
else if (! strcmp(argv[arg], "-m"))
maxrange = atof(argv[++arg]);
else if (! strcmp(argv[arg], "-n"))
max_scan_no = atoi(argv[++arg]);
else {
printUsage(argv[0]);
}
}
cout << "\nReading Graph file\n===========================\n";
ScanGraph* graph = new ScanGraph();
if (!graph->readBinary(graphFilename))
exit(2);
size_t num_points_in_graph = 0;
if (max_scan_no > 0) {
num_points_in_graph = graph->getNumPoints(max_scan_no-1);
cout << "\n Data points in graph up to scan " << max_scan_no << ": " << num_points_in_graph << endl;
}
else {
num_points_in_graph = graph->getNumPoints();
cout << "\n Data points in graph: " << num_points_in_graph << endl;
}
cout << "\nCreating tree\n===========================\n";
OcTree* tree = new OcTree(res);
size_t numScans = graph->size();
unsigned int currentScan = 1;
for (ScanGraph::iterator scan_it = graph->begin(); scan_it != graph->end(); scan_it++) {
if (currentScan % skip_scan_eval != 0){
if (max_scan_no > 0) cout << "("<<currentScan << "/" << max_scan_no << ") " << flush;
else cout << "("<<currentScan << "/" << numScans << ") " << flush;
tree->insertPointCloud(**scan_it, maxrange);
} else
cout << "(SKIP) " << flush;
if ((max_scan_no > 0) && (currentScan == (unsigned int) max_scan_no))
break;
currentScan++;
}
tree->expand();
cout << "\nEvaluating scans\n===========================\n";
currentScan = 1;
size_t num_points = 0;
size_t num_voxels_correct = 0;
size_t num_voxels_wrong = 0;
size_t num_voxels_unknown = 0;
for (ScanGraph::iterator scan_it = graph->begin(); scan_it != graph->end(); scan_it++) {
if (currentScan % skip_scan_eval == 0){
if (max_scan_no > 0) cout << "("<<currentScan << "/" << max_scan_no << ") " << flush;
else cout << "("<<currentScan << "/" << numScans << ") " << flush;
pose6d frame_origin = (*scan_it)->pose;
point3d sensor_origin = frame_origin.inv().transform((*scan_it)->pose.trans());
// transform pointcloud:
Pointcloud scan (*(*scan_it)->scan);
scan.transform(frame_origin);
point3d origin = frame_origin.transform(sensor_origin);
KeySet free_cells, occupied_cells;
tree->computeUpdate(scan, origin, free_cells, occupied_cells, maxrange);
num_points += scan.size();
// count free cells
for (KeySet::iterator it = free_cells.begin(); it != free_cells.end(); ++it) {
OcTreeNode* n = tree->search(*it);
if (n){
if (tree->isNodeOccupied(n))
num_voxels_wrong++;
//.........这里部分代码省略.........