配信する点群を予めreserveする

rt-net · Oct 15, 2024 · 6443f9c · 6443f9c
1 parent 131ed2a
commit 6443f9c
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/sciurus17_examples/src/point_cloud_detection.cpp b/sciurus17_examples/src/point_cloud_detection.cpp
@@ -227,6 +227,7 @@ class PointCloudSubscriber : public rclcpp::Node
 
     for (const auto & point_indices : cluster_indices) {
       auto cloud_cluster = std::make_shared<pcl::PointCloud<pcl::PointXYZRGB>>();
+      cloud_cluster->points.reserve(cloud_input->points.size());
       // 点群の色を変更
       for (const auto & point_i : point_indices.indices) {
         cloud_input->points[point_i].r = CLUSTER_COLOR[cluster_i][RED];