本文整理汇总了C++中typenamepcl::PointCloud::empty方法的典型用法代码示例。如果您正苦于以下问题：C++ PointCloud::empty方法的具体用法？C++ PointCloud::empty怎么用？C++ PointCloud::empty使用的例子？那么恭喜您, 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typenamepcl::PointCloud的用法示例。
在下文中一共展示了PointCloud::empty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: tree
template <typename PointT> void
pcl::applyMorphologicalOperator (const typename pcl::PointCloud<PointT>::ConstPtr &cloud_in,
float resolution, const int morphological_operator,
pcl::PointCloud<PointT> &cloud_out)
{
if (cloud_in->empty ())
return;
pcl::copyPointCloud<PointT, PointT> (*cloud_in, cloud_out);
pcl::octree::OctreePointCloudSearch<PointT> tree (resolution);
tree.setInputCloud (cloud_in);
tree.addPointsFromInputCloud ();
float half_res = resolution / 2.0f;
switch (morphological_operator)
{
case MORPH_DILATE:
case MORPH_ERODE:
{
for (size_t p_idx = 0; p_idx < cloud_in->points.size (); ++p_idx)
{
Eigen::Vector3f bbox_min, bbox_max;
std::vector<int> pt_indices;
float minx = cloud_in->points[p_idx].x - half_res;
float miny = cloud_in->points[p_idx].y - half_res;
float minz = -std::numeric_limits<float>::max ();
float maxx = cloud_in->points[p_idx].x + half_res;
float maxy = cloud_in->points[p_idx].y + half_res;
float maxz = std::numeric_limits<float>::max ();
bbox_min = Eigen::Vector3f (minx, miny, minz);
bbox_max = Eigen::Vector3f (maxx, maxy, maxz);
tree.boxSearch (bbox_min, bbox_max, pt_indices);
if (pt_indices.size () > 0)
{
Eigen::Vector4f min_pt, max_pt;
pcl::getMinMax3D<PointT> (*cloud_in, pt_indices, min_pt, max_pt);
switch (morphological_operator)
{
case MORPH_DILATE:
{
cloud_out.points[p_idx].z = max_pt.z ();
break;
}
case MORPH_ERODE:
{
cloud_out.points[p_idx].z = min_pt.z ();
break;
}
}
}
}
break;
}
case MORPH_OPEN:
case MORPH_CLOSE:
{
pcl::PointCloud<PointT> cloud_temp;
pcl::copyPointCloud<PointT, PointT> (*cloud_in, cloud_temp);
for (size_t p_idx = 0; p_idx < cloud_temp.points.size (); ++p_idx)
{
Eigen::Vector3f bbox_min, bbox_max;
std::vector<int> pt_indices;
float minx = cloud_temp.points[p_idx].x - half_res;
float miny = cloud_temp.points[p_idx].y - half_res;
float minz = -std::numeric_limits<float>::max ();
float maxx = cloud_temp.points[p_idx].x + half_res;
float maxy = cloud_temp.points[p_idx].y + half_res;
float maxz = std::numeric_limits<float>::max ();
bbox_min = Eigen::Vector3f (minx, miny, minz);
bbox_max = Eigen::Vector3f (maxx, maxy, maxz);
tree.boxSearch (bbox_min, bbox_max, pt_indices);
if (pt_indices.size () > 0)
{
Eigen::Vector4f min_pt, max_pt;
pcl::getMinMax3D<PointT> (cloud_temp, pt_indices, min_pt, max_pt);
switch (morphological_operator)
{
case MORPH_OPEN:
{
cloud_out.points[p_idx].z = min_pt.z ();
break;
}
case MORPH_CLOSE:
{
cloud_out.points[p_idx].z = max_pt.z ();
break;
}
}
}
}
//.........这里部分代码省略.........