C++ (Cpp) UniformSampling::filter примеры использования

Пример #1

Файл: uniform_sampling.cpp Проект: 2php/pcl

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);
}