Method EncodeFeatures

LIO-Livox/src/segment/segment.cpp:251–279

}

int PCSeg::EncodeFeatures(float *pFeas)
{
    int nLen=1+256+256+256*4;
    // pFeas:(1+256*6)*3
    // 0        3 ~ 3+356*3 = 257*3        275*3 ~ 257*3+256*3             3+256*6 ~ 3+256*6 + 256*4*3+12+1 
    // number    center                  每个障碍物的点数、类别、zmax           OBB 12个点
    // clusterNum
    pFeas[0]=this->clusterNum;

    memcpy(pFeas+3,this->pCenters,sizeof(float)*3*256);//重心

    for(int ii=0;ii<256;ii++)//最大容纳256个障碍物
    {
        pFeas[257*3+ii*3]=this->pnum[ii];
        pFeas[257*3+ii*3+1]=this->objClass[ii];
        pFeas[257*3+ii*3+2]=this->zs[ii];
    }

    for(int ii=0;ii<256;ii++)
    {
        for(int jj=0;jj<4;jj++)
        {
            pFeas[257*3+256*3+(ii*4+jj)*3]=this->pOBBs[ii*8+jj*2];
            pFeas[257*3+256*3+(ii*4+jj)*3+1]=this->pOBBs[ii*8+jj*2+1];
        }
    }


}
int FilterGndForPos(float* outPoints,float*inPoints,int inNum)
{
    int outNum=0;