将索引插入 PCL 库中的 pcl::octree::OctreePointCloudSearch<pcl::PointXYZ>

Question

我正在尝试使用 pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree 对点云进行分区和执行一些操作。

在方法中，它提供了一个public函数调用

setInputCloud(const PointCloudConstPtr &cloud_arg, IndicesConstPtr &indices_arg = IndicesConstPtr ())

在文档中，解释如下。

*\brief Provide a pointer to the input data set.
     * \param[in] cloud_arg the const boost shared pointer to a PointCloud message
     * \param[in] indices_arg the point indices subset that is to be used from \a cloud - if 0 the whole point cloud is used

此外，

// public typedefs
typedef boost::shared_ptr<const std::vector<int> > IndicesConstPtr;
typedef pcl::PointCloud<PointT> PointCloud;
typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;

我已经做的是，

pcl::PointCloud<pcl::PointXYZ>::Ptr inputCloud (new pcl::PointCloud<pcl::PointXYZ> ());
pcl::PointIndices::Ptr cloudIndices(new pcl::PointIndices());
pcl::PointIndices::Ptr selectedIndices(new pcl::PointIndices());

/* some code to fill inputCloud and cloudIndices & selectedIndices
(selectedIndices is contains only chosen indices set from all cloudIndices) */

float resolution = 0.1;
pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(resolution);
octree.setInputCloud(inputCloud);
octree.addPointsFromInputCloud();

这很好用。但是我需要在不使用 selectedIndices 创建新点云的情况下使用现有的 inputCloud 并将 selectedIndices 用于函数。

我知道 octree.setInputCloud(inputCloud, selectedIndices); 功能不起作用。它returns

error: cannot convert ‘pcl::PointIndices::Ptr’ {aka ‘std::shared_ptr<pcl::PointIndices>’} to ‘const IndicesConstPtr&’ {aka ‘const std::shared_ptr<const std::vector<int> >&’}
  169 |     octree.setInputCloud (inputCloud,selectedIndices);
      |                                             ^~~~~~~~~~~~~~~~~~~~~~
      |                                             |
      |                                             pcl::PointIndices::Ptr {aka std::shared_ptr<pcl::PointIndices>}

我需要转换 std::shared_ptr<pcl::PointIndices>const to std::shared_ptr<const std::vector<int> >& 吗？我该怎么做？

Answer 1

找到上述问题的答案。

PCL函数

 setInputCloud(const PointCloudConstPtr &cloud_arg, IndicesConstPtr &indices_arg = IndicesConstPtr ())

接受索引，但您必须将其转换为 pcl::IndicesPtr 类型。

所以，我的解决方案是，

pcl::IndicesPtr indicesTemp(new std::vector<int>());
std::copy(selectedIndices->indices.begin(), selectedIndices->indices.end(), std::back_inserter(*indicesTemp));

float resolution = 0.1;
pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(resolution);
octree.setInputCloud(inputCloud,indicesTemp);
octree.addPointsFromInputCloud();

结果如预期。

将索引插入 PCL 库中的 pcl::octree::OctreePointCloudSearch<pcl::PointXYZ>

Insert indices to pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> in PCL Library

c++

3d

pcl