使用VoxelGrid滤波器对点云进行下采样及可视化

 1、代码实现

#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>

boost::shared_ptr<pcl::visualization::PCLVisualizer> viewportsVis (
        pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud1, pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud2)
{
    // 
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
    viewer->initCameraParameters ();
    int v1(0);
    viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1);
    viewer->setBackgroundColor (0, 0, 0, v1);
    viewer->addText("Radius: 0.01", 10, 10, "v1 text", v1);
    viewer->addPointCloud<pcl::PointXYZ> (cloud1, "cloud1", v1);
    int v2(0);
    viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);
    viewer->setBackgroundColor (0.3, 0.3, 0.3, v2);
    viewer->addText("Radius: 0.1", 10, 10, "v2 text", v2);
    viewer->addPointCloud<pcl::PointXYZ> (cloud2, "cloud2", v2);
    viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud1");
    viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud2");
    viewer->addCoordinateSystem (1.0);

    return (viewer);
}

int
main (int argc, char** argv)
{
    pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2 ());
    pcl::PCLPointCloud2::Ptr cloud_filtered (new pcl::PCLPointCloud2 ());
    pcl::PointCloud<pcl::PointXYZ>::Ptr visual_cloud1 (new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr visual_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 ("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 ("2f.pcd", *cloud_filtered,
                  Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), false);

    //visual
    pcl::fromPCLPointCloud2 (*cloud, *visual_cloud1);
    pcl::fromPCLPointCloud2 (*cloud_filtered, *visual_cloud_filtered);
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
    viewer = viewportsVis(visual_cloud1, visual_cloud_filtered);
    viewer->spin();

    return (0);
}

2、添加的修改

2.1 pcl 报错： error: ‘sensor_msgs’ has not been declared；

sensor_msgs::PointCloud2::Ptr cloud (new sensor_msgs::PointCloud2 ());

改为：pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2 ());

2.2  pcl::PCLPointCloud2::Ptr和pcl::PointCloud<pcl::PointXYZ> 两种点云之间相互转换

pcl::fromPCLPointCloud2 (*cloud, *visual_cloud1);

3、实验结果