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最新推荐文章于 2024-04-15 21:23:03 发布

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最新推荐文章于 2024-04-15 21:23:03 发布

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分类专栏： PCL 文章标签： c++ opencv

本文链接：https://blog.csdn.net/NALUO123/article/details/123686067

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#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/filters/passthrough.h>
#include <iostream>
using namespace std;

int main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);
	
	// 填入点云数据
	pcl::PCDReader reader;
	// 把路径改为自己存放文件的路径
	reader.read<pcl::PointXYZ>("pig.pcd", *cloud);
	pcl::PassThrough<pcl::PointXYZ>pass;
	pass.setInputCloud(cloud);
	pass.setFilterFieldName("z");
	pass.setFilterLimits(1.0, 6.3);
	pass.setNegative(false);
	vector<int>indices;
	pass.filter(indices);
	pcl::IndicesPtr indices_ptr = make_shared<vector<int>>(indices);
	pass.setIndices(indices_ptr);
	pass.setFilterFieldName("x");
	pass.setFilterLimits(-0.5, 0.5);
	pass.setNegative(false);

	vector<int>index;
	pass.filter(index);
	pcl::IndicesPtr index_ptr = make_shared<vector<int>>(index);
	pass.setIndices(index_ptr);
	pass.setFilterFieldName("y");
	pass.setFilterLimits(0.3, 1.7);
	pass.setNegative(true);
	
	pass.filter(*cloud_filtered);
	cout << "cloud=" << cloud->size() << endl;
	cout << "cloud filter=" << cloud_filtered->size() << endl;
	boost::shared_ptr<pcl::visualization::PCLVisualizer>view(new pcl::visualization::PCLVisualizer("show cloud"));
	int v1(0);
	view->createViewPort(0.0, 0.0, 0.5, 1.0, v1);
	view->setBackgroundColor(0, 0, 0, v1);
	view->addText("left viewer", 10, 10, "v1_text", v1);
	int v2(0);
	view->createViewPort(0.5, 0.0, 1, 1.0, v2);
	view->setBackgroundColor(0.1, 0.1, 0.1, v2);
	view->addText("filtered point clouds", 10, 10, "v2_text", v2);
	view->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud", v1);
	view->addPointCloud<pcl::PointXYZ>(cloud_filtered, "cloud_filtered", v2);
	view->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 0, 0, "sample cloud", v1);
	view->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 0, 1, 0, "cloud_filtered", v2);
	view->addCoordinateSystem(1.0);
	view->initCameraParameters();
	while (!view->wasStopped())
	{
		view->spinOnce(100);
		//boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

	return 0;
}