PCL point cloud processing: creating a two-dimensional grid to organize point cloud data (64)

One 、 Two dimensional grid ？

There are many ways to organize point cloud data , such as kd Trees , Octree , Regular grid , Virtual grid , Triangulation and so on
The three-dimensional grid here , You can use a hash table to retain the point cloud data in each grid , There is no loss of data accuracy , Strictly speaking , Belong to virtual grid .
Three or two dimensions , Depending on the actual data processing needs , Decide which one to build .
Point coordinates ——> Grid row and column layer number ——> Hash table key ———> Export point cloud to linked list
It mainly establishes the connection between points and grids , It also implies the adjacent relationship between point clouds , For example, points in the same grid can be regarded as adjacent points .

Two 、 Use steps

1. Code

#include <QtCore/QCoreApplication>