PCL点云库 PointCloud

PointCloud类解释 

template <typename PointT>

class PointCloud

/** \brief PointCloud represents the base class in PCL for storing collections of 3D points.

*

* The class is templated, which means you need to specify the type of data

* that it should contain. For example, to create a point cloud that holds 4

* random XYZ data points, use:

*

* \code

* pcl::PointCloud<pcl::PointXYZ> cloud;

* cloud.push_back (pcl::PointXYZ (rand (), rand (), rand ()));

* cloud.push_back (pcl::PointXYZ (rand (), rand (), rand ()));

* cloud.push_back (pcl::PointXYZ (rand (), rand (), rand ()));

* cloud.push_back (pcl::PointXYZ (rand (), rand (), rand ()));

* \endcode

*

* The PointCloud class contains the following elements:

* - \b width - specifies the width of the point cloud dataset in the number of points. WIDTH has two meanings:

* - it can specify the total number of points in the cloud (equal with POINTS see below) for unorganized datasets;

* - it can specify the width (total number of points in a row) of an organized point cloud dataset.

* \a Mandatory.

* - \b height - specifies the height of the point cloud dataset in the number of points. HEIGHT has two meanings:

* - it can specify the height (total number of rows) of an organized point cloud dataset;

* - it is set to 1 for unorganized datasets (thus used to check whether a dataset is organized or not).

* \a Mandatory.

* - \b points - the data array where all points of type <b>PointT</b> are stored. \a Mandatory.

*

* - \b is_dense - specifies if all the data in <b>points</b> is finite (true), or whether it might contain Inf/NaN values

* (false). \a Mandatory.

*

* - \b sensor_origin_ - specifies the sensor acquisition pose (origin/translation). \a Optional.

* - \b sensor_orientation_ - specifies the sensor acquisition pose (rotation). \a Optional.

*

* \author Patrick Mihelich, Radu B. Rusu

*/