10 voxelgrid（体素网格）滤波器对点云下采样

10.1  定义 

10.2 代码

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>

#if 1
int main(int argc, char** argv)
{
	pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2());
	pcl::PCLPointCloud2::Ptr cloud_filtered(new pcl::PCLPointCloud2());

	std::cout << "start():" << std::endl;
	//点云对象的读取
	pcl::PCDReader reader;

	reader.read("D:/adiany/code/studu_pcl/6-2/x64/Debug/room_scan1.pcd", *cloud);    //读取点云到cloud中

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

	/******************************************************************************
	创建一个voxel叶大小为1cm的pcl::VoxelGrid滤波器，
  **********************************************************************************/
	pcl::VoxelGrid<pcl::PCLPointCloud2> sor;  //创建滤波对象
	sor.setInputCloud(cloud);                 //设置需要过滤的点云给滤波对象
	sor.setLeafSize(0.01f, 0.01f, 0.01f);     //设置滤波时创建的体素体积为1cm的立方体
	sor.filter(*cloud_filtered);              //执行滤波处理，存储输出

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

	pcl::PCDWriter writer;
	writer.write("./table_scene_lms400_downsampled.pcd", *cloud_filtered,
		Eigen::Vector4f::Zero(), Eigen::Quaternionf::Identity(), false);//存储在了6-2的文件里
	return 0;
}
#endif

10.3  结果