c++ - 如何访问 PCLPointCloud2 类型的点

Question

通过以下代码从 STL 文件“sphere.STL”获取点云是否正确？

pcl::PolygonMesh mesh;
pcl::io::loadPolygonFileSTL("sphere.stl", mesh);
pcl::PCLPointCloud2::Ptr ThisCloud = boost::make_shared<pcl::PCLPointCloud2>(mesh.ThisCloud);

那么，如何访问'ThisCloud'的各个点？

Answer 1

我想我转换了 pcl::PCLPointCloud2到 pcl::PointCloud<PointXYZ> :

...
// conversion
pcl::PointCloud<pcl::PointXYZ>::Ptr vertices( new pcl::PointCloud<pcl::PointXYZ> );
pcl::fromPCLPointCloud2( mesh.cloud, *vertices ); 

// access each vertex 
for( int idx = 0; idx < vertices->size(); idx++ )
{
   pcl::PointXYZ v = vertices->points[ idx ];

   float x = v._PointXYZ::data[ 0 ];
   float y = v._PointXYZ::data[ 1 ];
   float z = v._PointXYZ::data[ 2 ];
}