C++ (Cpp) VoxelGrid::setFilterFieldNameの例

コード例 #1

ファイル: voxel_grid.cpp プロジェクト: rbart/guide-dog

void
compute (const sensor_msgs::PointCloud2::ConstPtr &input, sensor_msgs::PointCloud2 &output,
         float leaf_x, float leaf_y, float leaf_z, const std::string &field, double fmin, double fmax)
{
  TicToc tt;
  tt.tic ();
  
  print_highlight ("Computing ");

  VoxelGrid<sensor_msgs::PointCloud2> grid;
  grid.setInputCloud (input);
  grid.setFilterFieldName (field);
  grid.setFilterLimits (fmin, fmax);
  grid.setLeafSize (leaf_x, leaf_y, leaf_z);
  grid.filter (output);

  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}