PCL 双边滤波器API使用

参考:PCL双边滤波

代码

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/filters/bilateral.h>

typedef pcl::PointXYZI PointT;

int
main (int argc, char*argv[])
 {

std::string incloudfile = argv[1];
std::string outcloudfile = argv[2];
float sigma_s = atof (argv[3]);
float sigma_r = atof (argv[4]);

   pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT>);
pcl::io::loadPCDFile (incloudfile.c_str (), *cloud);

   pcl::PointCloud<PointT> outcloud;

// 创建kd-tree
//    pcl::BilateralFilter<pcl::PointXYZI>::KdTreePtr tree(new pcl::KdTreeFLANN<PointT>);
//    pcl::search::Search<PointT>::Ptr tree(new pcl::KdTreeFLANN::Search<PointT>);
    pcl::search::KdTree<PointT>::Ptr tree1(new pcl::search::KdTree<PointT>);//用一个子类作为形参传入

   pcl::BilateralFilter<PointT> bf;
   bf.setInputCloud (cloud);
   bf.setSearchMethod (tree1);
   bf.setHalfSize (sigma_s);
   bf.setStdDev (sigma_r);
   bf.filter (outcloud);


pcl::io::savePCDFile (outcloudfile.c_str (), outcloud);
return (0);
 }