PCL，从vector 创建PointCloud ？

I am updating my PCL FPFH feature code to use the gpu modules. This is all going according to plan, except for the return type.

我正在更新我的PCL FPFH功能代码以使用gpu模块。除返回类型外,这一切都按计划进行。

The original cpu version:

原来的cpu版本:

pcl::FPFHEstimation<PointXYZ, Normal, FPFHSignature33> fpfh_est;

pcl :: FPFHEstimation fpfh_est;

returns from the compute function a:

从计算函数a返回:

PointCloud<FPFHSignature33>

and when i download the returned data from the gpu function, it is:

当我从gpu函数下载返回的数据时,它是:

int stub;
    vector<FPFHSignature33> downloaded;
    fpfhs_gpu.download(downloaded, stub);

How can i convert this vector<FPFHSignature33> into the PointCloud<FPFHSignature33> that the rest of my application needs?

如何将此向量 转换为我的应用程序其余部分所需的PointCloud ?

thank you.

1 个解决方案

fpfhs_gpu.download(downloaded, stub);

    for (int i = 0; i < downloaded.size(); i++)
    {
        fpfhs_src.push_back(downloaded[i]);
    }