【PCL学习笔记】：使用VoxelGrid 滤波 对点云进行下采样 并进行可视化显示

 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。