函数介绍
这是pcl中getMinMax3D的模板类实现。实际应用中直接调用即可。
template <typename PointT> inline void
pcl::getMinMax3D (const pcl::PointCloud<PointT> &cloud, PointT &min_pt, PointT &max_pt)
{
Eigen::Array4f min_p, max_p;
min_p.setConstant (FLT_MAX);
max_p.setConstant (-FLT_MAX);
// If the data is dense, we don't need to check for NaN
if (cloud.is_dense)
{
for (size_t i = 0; i < cloud.points.size (); ++i)
{
pcl::Array4fMapConst pt = cloud.points[i].getArray4fMap