有一个点云,想得到它x,y,z三个轴上的最大值和最小值。可以用pcl::getMinMax3D函数。在这儿。
函数参数:1:点云,2:放最小值的容器,3:放最大值的容器。容器类型是点云中点的类型(正好有三个值)
代码:
//
// Created by ethan on 18-6-26.
//
#include <iostream>
#include <ros/ros.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/common/common.h>
using namespace std;
int
main(int argc,char **argv)
{
//加载点云模型
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
cloud->width = 5; //设置宽度
cloud->height = 1; //设置高度
cloud->points.resize (cloud->width * cloud->height); //变形,无序
for (size_t i = 0; i < cloud->points.size (); ++i) //设置cloud_a中点的坐标(随机数)
{
cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);
}
std::cerr << "Cloud: " << std::endl;
for (size_t i = 0; i < cloud->points.size (); ++i) //打印cloud_a的点坐标信息
std::cerr << " " << cloud->points[i].x << " " << cloud->points[i].y <<" "<< cloud->points[i].z << std::endl;
pcl::PointXYZ min;//用于存放三个轴的最小值
pcl::PointXYZ max;//用于存放三个轴的最大值
pcl::getMinMax3D(*cloud,min,max);
cout<<"min.z = "<<min.z<<"\n"<<endl;
cout<<"max.z = "<<max.z<<"\n"<<endl;
}
输出: