如何从 std::vector 创建 pcl::PointIndices<int> 在 c++ 中使用 `pcl`（点云库）？</int>

Question

I'm using pcl in c++, apologizing for not being able to create a pcl tag.

I'm realizing a pipe line of point cloud segmentation with pcl . I want to know how to create pcl::PointIndices from a extracted indices of type std::vector<int> , so I can input it into another filter.

First filter can generate indices of type std::vector

// Create statistical filtering object
pcl::StatisticalOutlierRemoval<PointXYZ> sor;
CloudXYZPtr sor_filtered (new CloudXYZ);
std::vector<int> sor_inliers;

sor.setInputCloud (input);
sor.setMeanK (10);
sor.setStddevMulThresh (0.5);
sor.filter (sor_inliers);

Then, I want input this filtered incides into another filter like:

pcl::RadiusOutlierRemoval<PointXYZ> ror;
pcl::PointIndices::Ptr ror_indices (new pcl::PointIndices);
ror_indices->data = sor_inliers;  // #### How to do this line?
std::vector<int> ror_inliers;

//I can set it like
ror.setInputCloud(input);
ror.setIndices(ror_indices);

How to make it work? Thanks.

Answer 1

This:

ror_indices->data = sor_inliers;  // #### How to do this line?

Should be:

ror_indices->indices = sor_inliers;