PCL点云处理----体素滤波（vs2019环境下）

使用VoxelGrid滤波器对点云进行下采样，具体流程看代码注释。

#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::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);

	pcl::visualization::PCLVisualizer viewer("voxel_grid_filter");
	//v1 v2是视窗标识符
	int v1(1);
	int v2(2);
	//createViewPort 参数是 double xmin, double ymin, double xmax, double ymax, int &viewport
	viewer.createViewPort(0, 0, 0.5, 1, v1);
	viewer.createViewPort(0.5, 0, 1, 1, v2);

	pcl::PCDReader reader;
	// 此处代码替换为你自己的pcd文件路径
	reader.read("C://Users//l'c'r//Desktop//fangkuaipipei.pcd", *cloud); // Remember to download the file first!

	std::cerr << "PointCloud before filtering: " << cloud->width * cloud->height
		<< " data points (" << pcl::getFieldsList(*cloud) << ")." << std::endl;

	pcl::VoxelGrid<pcl::PointXYZ> sor;
	//设置输入点云
	sor.setInputCloud(cloud);
	sor.setLeafSize(0.01f, 0.01f, 0.01f);//设置滤波时创建的体素体积为1 cm3的立方体
	sor.filter(*cloud_filtered);

	std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height
		<< " data points (" << pcl::getFieldsList(*cloud_filtered) << ")." << std::endl;

	pcl::PCDWriter writer;
	writer.write("VoxelGridfilter.pcd", *cloud_filtered);

	viewer.addPointCloud(cloud, "cloud", v1);
	viewer.addPointCloud(cloud_filtered, "cloud_filtered", v2);

	while (!viewer.wasStopped())
	{
		viewer.spinOnce();
	}
	return (0);
}

 程序结果

PCL可视化

左图是原始点云，右图是体素滤波后点云。