void
PointCloud2Vector3d (pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data)
{
for (unsigned i = 0; i < cloud->size (); i++)
{
Point &p = cloud->at (i);
if (!pcl_isnan (p.x) && !pcl_isnan (p.y) && !pcl_isnan (p.z))
data.push_back (Eigen::Vector3d (p.x, p.y, p.z));
}
}
void
CreateCylinderPoints (pcl::PointCloud<Point>::Ptr cloud, pcl::on_nurbs::vector_vec3d &data, unsigned npoints,
double alpha, double h, double r)
{
for (unsigned i = 0; i < npoints; i++)
{
double da = alpha * double (rand ()) / RAND_MAX;
double dh = h * (double (rand ()) / RAND_MAX - 0.5);
Point p;
p.x = r * cos (da);
p.y = r * sin (da);
p.z = dh;
data.push_back (Eigen::Vector3d (p.x, p.y, p.z));
cloud->push_back (p);
}
}