| 960 | |
| 961 | template <typename PointType> |
| 962 | void insertCloudToSurfelMap(ufo::map::SurfelMap &map, |
| 963 | pcl::PointCloud<PointType> &pclCloud) |
| 964 | { |
| 965 | int cloudSize = pclCloud.size(); |
| 966 | |
| 967 | ufo::map::PointCloud ufoCloud; |
| 968 | ufoCloud.resize(cloudSize); |
| 969 | |
| 970 | #pragma omp parallel for num_threads(omp_get_max_threads()) |
| 971 | for(int i = 0; i < cloudSize; i++) |
| 972 | { |
| 973 | ufoCloud[i].x = (float)pclCloud.points[i].x; |
| 974 | ufoCloud[i].y = (float)pclCloud.points[i].y; |
| 975 | ufoCloud[i].z = (float)pclCloud.points[i].z; |
| 976 | } |
| 977 | |
| 978 | map.insertSurfelPoint(std::begin(ufoCloud), std::end(ufoCloud)); |
| 979 | } |
| 980 | |
| 981 | namespace Util |
| 982 | { |
no test coverage detected