pcl体素滤波

头文件

#include<pcl/filters/voxel_grid.h>

int find_center::lxr_filtered1(CP& cloudIn,double fitered_radius1) {

    pcl::console::TicToc time; time.tic();
    lxr_vision3(cloudIn);

    //体素滤波
    pcl::VoxelGrid<pcl::PointXYZ> sor;
    CP cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);
    sor.setInputCloud(cloudIn);
    sor.setLeafSize(fitered_radius1, fitered_radius1, fitered_radius1);  
    sor.filter(*cloud_filtered);

    cout << "滤波用时:" << time.toc() << "ms" << endl;
    cout << "滤波前点云大小:" << cloudIn->size() << endl << "滤波后点云大小:" << cloud_filtered->size() << endl;

    lxr_vision3(cloud_filtered);
    cloudIn = cloud_filtered;
    return 1;
}

结果如下

当fitered_radius1=0.03f时,滤波前后点云

当fitered_radius1=0.3f时,滤波前后点云