PCL1.12.1学习——使用VoxelGrid滤波器对点云进行下采样

最新推荐文章于 2024-02-27 00:15:00 发布

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最新推荐文章于 2024-02-27 00:15:00 发布

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文章标签：学习算法 c++ pcl

本文链接：https://blog.csdn.net/dyk4ever/article/details/126390852

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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);
}