本文整理汇总了C++中typenamestd::vector::getNumberPoints方法的典型用法代码示例。如果您正苦于以下问题：C++ vector::getNumberPoints方法的具体用法？C++ vector::getNumberPoints怎么用？C++ vector::getNumberPoints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typenamestd::vector的用法示例。
在下文中一共展示了vector::getNumberPoints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: cluster
template <typename PointT> void
pcl::people::HeadBasedSubclustering<PointT>::subcluster (std::vector<pcl::people::PersonCluster<PointT> >& clusters)
{
// Check if all mandatory variables have been set:
if (std::isnan(sqrt_ground_coeffs_))
{
PCL_ERROR ("[pcl::people::pcl::people::HeadBasedSubclustering::subcluster] Floor parameters have not been set or they are not valid!\n");
return;
}
if (cluster_indices_.empty ())
{
PCL_ERROR ("[pcl::people::pcl::people::HeadBasedSubclustering::subcluster] Cluster indices have not been set!\n");
return;
}
if (cloud_ == nullptr)
{
PCL_ERROR ("[pcl::people::pcl::people::HeadBasedSubclustering::subcluster] Input cloud has not been set!\n");
return;
}
// Person clusters creation from clusters indices:
for(std::vector<pcl::PointIndices>::const_iterator it = cluster_indices_.begin(); it != cluster_indices_.end(); ++it)
{
pcl::people::PersonCluster<PointT> cluster(cloud_, *it, ground_coeffs_, sqrt_ground_coeffs_, head_centroid_, vertical_); // PersonCluster creation
clusters.push_back(cluster);
}
// Remove clusters with too high height from the ground plane:
std::vector<pcl::people::PersonCluster<PointT> > new_clusters;
for(size_t i = 0; i < clusters.size(); i++) // for every cluster
{
if (clusters[i].getHeight() <= max_height_)
new_clusters.push_back(clusters[i]);
}
clusters = new_clusters;
new_clusters.clear();
// Merge clusters close in floor coordinates:
mergeClustersCloseInFloorCoordinates(clusters, new_clusters);
clusters = new_clusters;
std::vector<pcl::people::PersonCluster<PointT> > subclusters;
int cluster_min_points_sub = int(float(min_points_) * 1.5);
// int cluster_max_points_sub = max_points_;
// create HeightMap2D object:
pcl::people::HeightMap2D<PointT> height_map_obj;
height_map_obj.setGround(ground_coeffs_);
height_map_obj.setInputCloud(cloud_);
height_map_obj.setSensorPortraitOrientation(vertical_);
height_map_obj.setMinimumDistanceBetweenMaxima(heads_minimum_distance_);
for(typename std::vector<pcl::people::PersonCluster<PointT> >::iterator it = clusters.begin(); it != clusters.end(); ++it) // for every cluster
{
float height = it->getHeight();
int number_of_points = it->getNumberPoints();
if(height > min_height_ && height < max_height_)
{
if (number_of_points > cluster_min_points_sub) // && number_of_points < cluster_max_points_sub)
{
// Compute height map associated to the current cluster and its local maxima (heads):
height_map_obj.compute(*it);
if (height_map_obj.getMaximaNumberAfterFiltering() > 1) // if more than one maximum
{
// create new clusters from the current cluster and put corresponding indices into sub_clusters_indices:
createSubClusters(*it, height_map_obj.getMaximaNumberAfterFiltering(), height_map_obj.getMaximaCloudIndicesFiltered(), subclusters);
}
else
{ // Only one maximum --> copy original cluster:
subclusters.push_back(*it);
}
}
else
{
// Cluster properties not good for sub-clustering --> copy original cluster:
subclusters.push_back(*it);
}
}
}
clusters = subclusters; // substitute clusters with subclusters
}