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update the pcd saving to one map

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xw
2021-07-06 05:04:31 -04:00
parent bd8863926c
commit ae6a01383a
4 changed files with 25 additions and 14 deletions
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3
src/preprocess.cpp
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@@ -724,6 +724,7 @@ void Preprocess::give_feature(pcl::PointCloud<PointType> &pl, vector<orgtype> &t
ap.x = pl[j].x;
ap.y = pl[j].y;
ap.z = pl[j].z;
ap.intensity = pl[j].intensity;
ap.curvature = pl[j].curvature;
pl_surf.push_back(ap);
@@ -744,11 +745,13 @@ void Preprocess::give_feature(pcl::PointCloud<PointType> &pl, vector<orgtype> &t
ap.x += pl[k].x;
ap.y += pl[k].y;
ap.z += pl[k].z;
ap.intensity += pl[k].intensity;
ap.curvature += pl[k].curvature;
}
ap.x /= (j-last_surface);
ap.y /= (j-last_surface);
ap.z /= (j-last_surface);
ap.intensity /= (j-last_surface);
ap.curvature /= (j-last_surface);
pl_surf.push_back(ap);
}