TruncatePointCloud

设置区域范围，按给定范围截取点云。

#include <RVC/RVC.h>

#include <iostream>

#include "IO/FileIO.h"
#include "IO/SavePointMap.h"

#include "Utils/PointCloudUtils.h"
#include "Utils/Timer.h"

int main(int argc, char *argv[]) {
    // Initialize RVC X system.
    RVC::SystemInit();

    // Scan all RVC X Camera devices.
    RVC::Device devices[10];
    size_t actual_size = 0;
    SystemListDevices(devices, 10, &actual_size, RVC::SystemListDeviceType::All);

    // Find whether any RVC X Camera is connected or not.
    if (actual_size == 0) {
        std::cout << "Can not find any RVC X Camera!" << std::endl;
        return -1;
    }

    // Create a RVC X Camera and choose use left side camera.
    RVC::X1 x1 = RVC::X1::Create(devices[0], RVC::CameraID_Left);

    // Open RVC X Camera.
    x1.Open();

    // Test RVC X Camera is opened or not.
    if (!x1.IsOpen()) {
        std::cout << "RVC X Camera is not opened!" << std::endl;
        RVC::X1::Destroy(x1);
        RVC::SystemShutdown();
        return 1;
    }

    const std::string save_directory = "./Data/";
    MakeDirectories(save_directory);

    // Capture a point map and a image with default setting.
    if (x1.Capture() == true) {
        std::cout << "RVC X Camera capture successed!" << std::endl;

        // Get point map data (m).
        RVC::PointMap pm = x1.GetPointMap();
        std::string pm_addr = save_directory + "test.ply";
        std::string truncate_pm_addr = save_directory + "truncate_test.ply";

        std::cout << "save point map to file: " << pm_addr << std::endl;
        pm.Save(pm_addr.c_str(), RVC::PointMapUnit::Meter, true);
        XYZRange range;
        range.zmin = 0;
        range.zmax = 5;
        std::vector<double> truncate_pts;
        int ret;
        {
            Timer t("Truncate");
            ret = Truncate(pm, range, truncate_pts);
        }
        if (0 == ret) {
            size_t points_num = truncate_pts.size() / 3;
            std::cout << "truncate success, truncate points num:" << points_num << std::endl;
            SavePlyFile(truncate_pm_addr.c_str(), truncate_pts.data(), points_num);
        } else {
            std::cout << "truncate failed!ret: " << ret << std::endl;
        }

    } else {
        std::cout << RVC::GetLastErrorMessage() << std::endl;
        std::cout << "RVC X Camera capture failed!" << std::endl;
    }

    // Close RVC X Camera.
    x1.Close();

    // Destroy RVC X Camera.
    RVC::X1::Destroy(x1);

    // Shutdown RVC X System.
    RVC::SystemShutdown();

    return 0;
}