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最新推荐文章于 2024-04-28 11:04:06 发布

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最新推荐文章于 2024-04-28 11:04:06 发布

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分类专栏： PCL点云文章标签： python 深度学习 pytorch

本文链接：https://blog.youkuaiyun.com/weixin_44135909/article/details/121372658

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提取关键点

计算分辨率‘

#include <pcl/io/pcd_io.h>
#include <pcl/search/kdtree.h>

// This function by Tommaso Cavallari and Federico Tombari, taken from the tutorial
// http://pointclouds.org/documentation/tutorials/correspondence_grouping.php
double computeCloudResolution(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr& cloud)
{
   
	double resolution = 0.0;
	int numberOfPoints = 0;
	int nres;
	std::vector<int> indices(2);
	std::vector<float> squaredDistances(2);
	pcl::search::KdTree<pcl::PointXYZ> tree;
	tree.setInputCloud(cloud);

	for (size_t i = 0; i < cloud->size(); ++i)
	{
   
		if (!std::isfinite((