void
compute (const pcl::PCLPointCloud2::ConstPtr &input, pcl::PCLPointCloud2 &output,
double radius)
{
// Convert data to PointCloud<T>
PointCloud<PointXYZ>::Ptr xyz (new PointCloud<PointXYZ>);
fromPCLPointCloud2 (*input, *xyz);
// Estimate
TicToc tt;
tt.tic ();
print_highlight (stderr, "Computing ");
UniformSampling<PointXYZ> us;
us.setInputCloud (xyz);
us.setRadiusSearch (radius);
PointCloud<PointXYZ> output_;
us.filter (output_);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output_.size()); print_info (" points]\n");
// Convert data back
toPCLPointCloud2 (output_, output);
}
void
UniformSamplingWrapper::compute(PointCloudInPtr input, PointCloudOut &output)
{
float keypoint_separation = 0.01f;
IndicesPtr indices (new std::vector<int>());
PointCloud<int> leaves;
UniformSampling<PointNormal> us;
us.setRadiusSearch(keypoint_separation);
us.setInputCloud(input);
us.compute(leaves);
// Copy point cloud and return
indices->assign(leaves.points.begin(), leaves.points.end()); // can't use operator=, probably because of different allocators
copyPointCloud(*input, *indices, output);
}