点云下采样

一、结果图

流程

PCL学习记录-2 Filter-2 VoxelGrid（体素网格方法-降采样）功能及用法解析_体素降采样-CSDN博客

Downsampling a PointCloud using a VoxelGrid filter — Point Cloud Library 0.0 documentation

1 新建文件夹，把 voxel_grid.cpp  和CMakeLists.txt 放入

voxel_grid.cpp代码如下：

#include <iostream>

#include <pcl/io/pcd_io.h>

#include <pcl/point_types.h>

#include <pcl/filters/voxel_grid.h>


int

main ()

{

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

  pcl::PCLPointCloud2::Ptr cloud_filtered (new pcl::PCLPointCloud2 ());


  // Fill in the cloud data

  pcl::PCDReader reader;

  // Replace the path below with the path where you saved your file

  reader.read ("1.pcd", *cloud); // Remember to download the file first!


  std::cerr << "PointCloud before filtering: " << cloud->width * cloud->height 

       << " data points (" << pcl::getFieldsList (*cloud) << ")." << std::endl;


  // Create the filtering object

  pcl::VoxelGrid<pcl::PCLPointCloud2> sor;

  sor.setInputCloud (cloud);

  sor.setLeafSize (0.1f, 0.1f, 0.1f);

  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 ("after_singal1.pcd", *cloud_filtered, 

         Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), false);


  return (0);

}

CMakeLists.txt ：

cmake_minimum_required(VERSION 3.5 FATAL_ERROR)


project(voxel_grid)


find_package(PCL 1.10 REQUIRED)


include_directories(${PCL_INCLUDE_DIRS})

link_directories(${PCL_LIBRARY_DIRS})

add_definitions(${PCL_DEFINITIONS})


add_executable (voxel_grid voxel_grid.cpp)

target_link_libraries (voxel_grid ${PCL_LIBRARIES})

2 进行编译：

在此文件夹路径下打开终端：

mkdir build 
cd build
cmake ..
make 
./voxel_grid

3 可视化

pcl_viewer -multiview 1.pcd after_singal1.pcd

pcd文件要放到build文件夹里。

注意：图片命名不一样需要更改代码。