20201015-PCL读取来自txt的点云坐标数据并转化为点云+高斯滤波去噪代码

20201015-PCL读取来自txt的点云坐标数据并转化为点云+高斯滤波去噪代码

1. main里面实现

#include <iostream> 
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h> 
#include <pcl/point_cloud.h>
#include <pcl/console/time.h>
#include <pcl/filters/convolution_3d.h>
#include <pcl/kdtree/kdtree_flann.h>

#include<pcl/visualization/pcl_visualizer.h>
#include<vector>

int main()
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	std::ifstream file1("123.txt");//TODO::定义文件路径命名为file1
	std::string line;
	pcl::PointXYZ point;
	while (getline(file1, line))
	{
		std::stringstream ss(line);
		ss >> point.x;
		ss >> point.y;
		ss >> point.z;
		cloud->push_back(point);
	}
	file1.close();
	//
	pcl::PointCloud<pcl::PointXYZ>::Ptr outputcloud(new pcl::PointCloud<pcl::PointXYZ>);
	double radius = 0.01;
	//Set up the Gaussian Kernel
	pcl::filters::GaussianKernel<pcl::PointXYZ, pcl::PointXYZ>::Ptr kernel(new pcl::filters::GaussianKernel<pcl::PointXYZ, pcl::PointXYZ>);
	(*kernel).setSigma(4);
	(*kernel).setThresholdRelativeToSigma(4);
	std::cout << "kernel made" << std::endl;
	//Set up the KDTree
	pcl::search::KdTree<pcl::PointXYZ>::Ptr kdtree(new pcl::search::KdTree<pcl::PointXYZ>);
	(*kdtree).setInputCloud(cloud);
	std::cout << "kdtree made" << std::endl;
	//Set up the Convolution Filter
	pcl::filters::Convolution3D<pcl::PointXYZ, pcl::PointXYZ, pcl::filters::GaussianKernel<pcl::PointXYZ, pcl::PointXYZ>> convolution;
	convolution.setKernel(*kernel);
	convolution.setInputCloud(cloud);
	convolution.setSearchMethod(kdtree);
	convolution.setRadiusSearch(radius);
	convolution.setNumberOfThreads(10);//important! Set Thread number for openMP
	std::cout << "Convolution Start" << std::endl;
	convolution.convolve(*outputcloud);
	std::cout << "Convoluted" << std::endl;

	std::vector<std::vector<double>> pCDenosing(outputcloud->size());
	for (int i = 0; i < outputcloud->size(); i++)
	{
		std::vector<double> pi(3);
		pi[0] = outputcloud->at(i).x;
		pi[1] = outputcloud->at(i).y;
		pi[2] = outputcloud->at(i).z;
		pCDenosing[i]=pi;
	}
	std::cout << "Gaussian denoising finished!" << std::endl;
	pcl::visualization::PCLVisualizer viewer("VIEWER");
	viewer.setBackgroundColor(1.0, 1.0, 1.0);
	viewer.initCameraParameters();
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> random(outputcloud, 100, 200, 50);
	viewer.addPointCloud(outputcloud, random, "cloud");
	while (!viewer.wasStopped())
	{
		viewer.spinOnce(100);
		system("pause");
	}
	return 0;
}

2. 函数里面实现，main调用

void readtxt(const std::string &filepath, pcl::PointCloud<pcl::PointXYZ>::Ptr cloudfinal)
{
	//TODO::读取文件路径filename，建立空点云cloud
	//TODO::把txt里面的点坐标用点云的形式表示，这样可以在pcl中进行运算和可视化
	std::ifstream filename(filepath.c_str());//c_str()：生成一个const char*指针，指向以空字符终止的数组。
	std::string line;
	pcl::PointXYZ point;
	while (getline(filename, line))
	{
		std::stringstream ss(line);
		ss >> point.x;
		ss >> point.y;
		ss >> point.z;
		cloudfinal->push_back(point);
	}
	filename.close();
	return;

}

主程序

int main()
{
	
	//读取txt并写成点云形式
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
	readtxt("123.txt", cloud);
	return 0;
}