PCL滤波算法学习
环境为VS2019
全部代码如下:
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/visualization/pcl_visualizer.h>
int
main(int argc, char** argv)
{
pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2());
pcl::PCLPointCloud2::Ptr cloud_filtered(new pcl::PCLPointCloud2());
// 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("table_scene_lms400.pcd", *cloud); // 记住要事先下载这个数据集!
std::cerr << "PointCloud before filtering: " << cloud->width * cloud->height
<< " data points (" << pcl::getFieldsList(*cloud) << ").";
// 创建滤波器对象
pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
sor.setInputCloud(cloud);
sor.setLeafSize(0.01f, 0.01f, 0.01f);
sor.filter(*cloud_filtered);
std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height
<< " data points (" << pcl::getFieldsList(*cloud_filtered) << ").";
pcl::PCDWriter writer;
writer.write("table_scene_lms400_downsampled.pcd", *cloud_filtered,
Eigen::Vector4f::Zero(), Eigen::Quaternionf::Identity(), false);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud1(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2(new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile("table_scene_lms400_downsampled.pcd", *cloud1);
pcl::io::loadPCDFile("table_scene_lms400.pcd", *cloud2);
pcl::visualization::PCLVisualizer viewer("downsampled");
viewer.initCameraParameters();
viewer.setBackgroundColor(0, 0, 0);
int v1(0);
int v2(0);
viewer.createViewPort(0.0, 0.0, 0.5, 1.0, v1);
viewer.createViewPort(0.5, 0.0, 1.0, 1.0, v2);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud1, 0, 255, 0);//将原始点云设置成绿色对象 single_color
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color2(cloud2, 0, 0, 255);
viewer.addPointCloud<pcl::PointXYZ>(cloud1, single_color, "sample",v1);//将single_color在viewer中进行显示
viewer.addPointCloud<pcl::PointXYZ>(cloud2, single_color2, "src", v2);//将single_color在viewer中进行显示
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "src");
//pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color_01(cloud_k_near_point, 255, 0, 0);//将原始点云设置成红色显示 single_color
//viewer.addPointCloud<pcl::PointXYZ>(cloud_k_near_point, single_color_01, "sample01");//将single_color在viewer中进行显示
//viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample01");
while (!viewer.wasStopped())
{
viewer.spinOnce(1);
}
return (0);
}
代码运行结果:
左视口为使用VoxelGrid滤波器对初始点云进行下采样之后的点云,右视口为初始的点云。从上图两个视口可以看出来,左边视口的点云明显比右边视口的点云稀疏。使用滤波器处理前,点云中有460400个点。处理后,点云中仅有41049个点。