参考:
1、 https://blog.csdn.net/liukunrs/article/details/80319952
2、 https://blog.csdn.net/Felaim/article/details/77200034
3、 《点云库PCL学习教程》 朱德海
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/io.h>
#include <pcl/visualization/pcl_visualizer.h> // //PCL可视化的头文件
boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
//创建3D窗口并添加点云
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0, 0, 0);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 200, 0);
viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "sample cloud");
//viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud");
viewer->addCoordinateSystem(1.0);
viewer->initCameraParameters();
return (viewer);
}
int main (int argc, char** argv)
{
pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2());
pcl::PCLPointCloud2::Ptr cloud_filtered(new pcl::PCLPointCloud2());
pcl::PointCloud <pcl::PointXYZ>::Ptr cloudxyz(new pcl::PointCloud<pcl::PointXYZ>);
//sensor_msgs::PointCloud2::Ptr cloud (new sensor_msgs::PointCloud2 ());
//sensor_msgs::PointCloud2::Ptr cloud_filtered (new sensor_msgs::PointCloud2 ());
// 填入点云数据
pcl::PCDReader reader;
// 把路径改为自己存放文件的路径
reader.read("Tutorial_Cloud_Couch_bin_compressed.pcd", *cloud); // Remember to download the file first!
std::cerr << "PointCloud before filtering: " << cloud->width * cloud->height
<< " data points (" << pcl::getFieldsList (*cloud) << ").";
// 创建滤波器对象
pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
sor.setInputCloud (cloud);
sor.setLeafSize (0.01f, 0.01f, 0.01f);
sor.filter (*cloud_filtered);
std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height
<< " data points (" << pcl::getFieldsList (*cloud_filtered) << ").";
//pcl::PCDWriter writer;
//writer.write ("2f.pcd", *cloud_filtered,
// Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), false);
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
pcl::fromPCLPointCloud2(*cloud_filtered, *cloudxyz);
viewer = simpleVis(cloudxyz);
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
return (0);
}
其中在read .pcd点云文件时,出现了加载时间过长的现象,目前还不知道时什么原因所造成的。但在可视化时,因为PCLPointCloud2与PCLPointCloud的数格式有所差别,需要进行转换显示: pcl::fromPCLPointCloud2 (*cloud_filtered_blob, *cloud_filtered);
代码段已经很清晰了,可以参考下其他的博主的文章。
原始cloud:
下采样之后:
下采样,点云数据为原来的三分之一。