PCL如何创建点云array/vector？

Question

我在硬盘上存储了 85 个点云。我想把所有的云都打开保存在一个vector/array.
我应该怎么做？

我没有成功测试的内容：

    define _CRT_SECURE_NO_WARNINGS
    #include <pcl/io/pcd_io.h>
    #include <pcl/point_types.h>
    #include <pcl/registration/icp.h>
    #include <pcl/visualization/pcl_visualizer.h>
    #include <pcl/common/transforms.h>
    #include <pcl/filters/voxel_grid.h>
    #include <pcl/filters/radius_outlier_removal.h>

    #include <Eigen/Geometry>


    #include <iostream>
    #include <string>

    using namespace pcl;
    using namespace std;

    int main(int argc, char** argv)
    {
    //Create Point Clouds
    PointCloud<PointXYZ>::Ptr sourceCloud(new PointCloud<PointXYZ>);

    vector < PointCloud<PointXYZ>::Ptr, Eigen::aligned_allocator <PointCloud <PointXYZ>::Ptr > > sourceClouds;

    //save PointClouds to array
    for (int i = 1; i < (argc - 1); i++)
    {
        if (io::loadPCDFile<PointXYZ>(argv[i], *sourceCloud) != 0)
        {
            return -1;
        }
        cout << "Loaded file " << argv[i] << " (" << sourceCloud->size() << " points)" << endl;
        sourceClouds.push_back(sourceCloud);
        cout << "Point Cloud " << i-1 << "has got " << sourceClouds[i-1]->size() << " Points" << endl;
        sourceCloud->clear();
    }

    for (int i = 0; i < sourceClouds.size() - 1; i++)
    {
        cout << "Point Cloud " << i << "has got " << sourceClouds[i]->size() << " Points" << endl;
    }
    }

在第一个for循环中，两个Clouuds的PointCloudSize相同，但在第二个for循环中，PointCloudSize为0。
我做错了什么？

Answer 1

sourceClouds.push_back(sourceCloud);

此行只复制PointCloud::Ptr，不复制点云数据

试试这个：

  int main(int argc, char** argv)
    {
    //Create Point Clouds
    //PointCloud<PointXYZ>::Ptr sourceCloud(new PointCloud<PointXYZ>);

    vector < PointCloud<PointXYZ>::Ptr, Eigen::aligned_allocator <PointCloud <PointXYZ>::Ptr > > sourceClouds;

    //save PointClouds to array
    for (int i = 1; i < (argc - 1); i++)
    {
        PointCloud<PointXYZ>::Ptr sourceCloud(new PointCloud<PointXYZ>);
        if (io::loadPCDFile<PointXYZ>(argv[i], *sourceCloud) != 0)
        {
            return -1;
        }
        cout << "Loaded file " << argv[i] << " (" << sourceCloud->size() << " points)" << endl;
        sourceClouds.push_back(sourceCloud);
        cout << "Point Cloud " << i-1 << "has got " << sourceClouds[i-1]->size() << " Points" << endl;
       // sourceCloud->clear();
    }

    for (int i = 0; i < sourceClouds.size() - 1; i++)
    {
        cout << "Point Cloud " << i << "has got " << sourceClouds[i]->size() << " Points" << endl;
    }
    }

PCL如何创建点云array/vector？

PCL How to create a Point Cloud array/vector?

c++

eigen

point-cloud-library