PCL 渐进式形态学滤波

最新推荐文章于 2024-04-18 14:07:45 发布

Almost点云

最新推荐文章于 2024-04-18 14:07:45 发布

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分类专栏：点云学习文章标签： c++ 开发语言 3d 计算机视觉

本文链接：https://blog.csdn.net/m0_51204289/article/details/126812645

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一、概述

PCL中渐进式形态学滤波简单使用案例

二、代码

bare_earth.cpp

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/segmentation/progressive_morphological_filter.h>

int
main ()
{
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointIndicesPtr ground (new pcl::PointIndices);

  // Fill in the cloud data
  pcl::PCDReader reader;
  // Replace the path below with the path where you saved your file
  reader.read<pcl::PointXYZ> ("samp11-utm.pcd", *cloud);

  std::cerr << "Cloud before filtering: " << std::endl;
  std::cerr << *cloud << std::endl;

  // Create the filtering object
  pcl::ProgressiveMorphologicalFilter<pcl::PointXYZ> pmf;
  pmf.setInputCloud (cloud);
  pmf.setMaxWindowSize (20);
  pmf.setSlope (1.0f);
  pmf.setInitialDistance (0.5f);
  pmf.setMaxDistance (3.0f);
  pmf.extract (ground->indices);

  // Create the filtering object
  pcl::ExtractIndices<pcl::PointXYZ> extract;
  extract.setInputCloud (cloud);
  extract.setIndices (ground);
  extract.filter (*cloud_filtered);

  std::cerr << "Ground cloud after filtering: " << std::endl;
  std::cerr << *cloud_filtered << std::endl;

  pcl::PCDWriter writer;
  writer.write<pcl::PointXYZ> ("samp11-utm_ground.pcd", *cloud_filtered, false);

  // Extract non-ground returns
  extract.setNegative (true);
  extract.filter (*cloud_filtered);

  std::cerr << "Object cloud after filtering: " << std::endl;
  std::cerr << *cloud_filtered << std::endl;

  writer.write<pcl::PointXYZ> ("samp11-utm_object.pcd", *cloud_filtered, false);

  return (0);
}