int
main (int, char**)
{
typedef pcl::PointCloud<pcl::PointXYZ> CloudType;
CloudType::Ptr cloud (new CloudType);
cloud->is_dense = false;
CloudType::Ptr output_cloud (new CloudType);
CloudType::PointType p_nan;
p_nan.x = std::numeric_limits<float>::quiet_NaN();
p_nan.y = std::numeric_limits<float>::quiet_NaN();
p_nan.z = std::numeric_limits<float>::quiet_NaN();
cloud->push_back(p_nan);
CloudType::PointType p_valid;
p_valid.x = 1.0f;
cloud->push_back(p_valid);
std::cout << "size: " << cloud->points.size () << std::endl;
std::vector<int> indices;
pcl::removeNaNFromPointCloud(*cloud, *output_cloud, indices);
std::cout << "size: " << output_cloud->points.size () << std::endl;
return 0;
}
int main (int argc, char** argv)
{
// Create an organized point cloud
CloudType::Ptr cloud (new CloudType);
cloud->height = 10;
cloud->width = 10;
cloud->is_dense = true;
cloud->resize(cloud->height * cloud->width);
// Make a scan of a square
for(unsigned int row = 0; row < cloud->height; ++row)
{
for(unsigned int col = 0; col < cloud->width; ++col)
{
PointType p;
p.x = col; p.y = row; p.z = 10;
(*cloud)(col, row) = p;
}
}
pcl::RangeImageNew range_image;
range_image.CreateFromPointCloud(cloud);
return 0;
}
int main (int argc, char** argv)
{
typedef pcl::PointXYZRGB PointType;
typedef pcl::PointCloud<PointType> CloudType;
CloudType::Ptr cloud (new CloudType);
CloudType::PointType p;
p.x = 1; p.y = 2; p.z = 3; p.r = 5; p.g = 10; p.b = 15;
std::cout << p << std::endl;
std::cout << p.x << " " << p.y << " " << p.z << " " << static_cast<int>(p.r) << " " << static_cast<int>(p.g) << " " << static_cast<int>(p.b) << std::endl;
std::cout << "size: " << cloud->points.size () << std::endl;
cloud->push_back(p);
return 0;
}
