滤波-体素栅格和随机采样
//滤波
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>
// 包含相关头文件
#include<pcl/filters/voxel_grid.h>
#include<pcl/filters/uniform_sampling.h>
// 可视化展示
#include<pcl/visualization/pcl_visualizer.h>
using namespace std;
typedef pcl::PointXYZ PointT;
int main() {
// 读取点云
pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
pcl::io::loadPCDFile("rabbit.pcd", *cloud);
pcl::visualization::PCLVisualizer viewer1;
viewer1.addPointCloud(cloud, "cloud2");
std::cout << "original cloud size : " << cloud->size() << std::endl;
//使用体素化网格(Voxelgrid)进行下采样
//pcl::VoxelGrid<PointT> grid;// 创建滤波对象
//const float leaf = 0.5f;
//grid.setLeafSize(leaf, leaf, leaf);//设置体素体积
//grid.setInputCloud(cloud);//设置点云
//pcl::PointCloud<PointT>::Ptr voxelResult(new pcl::PointCloud<PointT>);
//grid.filter(*voxelResult);//执行滤波,输出结果
// 使用随机采样
pcl::visualization::PCLVisualizer viewer;
pcl::UniformSampling<PointT> uniform_sampling;
uniform_sampling.setInputCloud(cloud);
double radius = 0.005f;
uniform_sampling.setRadiusSearch(radius);
pcl::PointCloud<PointT>::Ptr uniformResult(new pcl::PointCloud<PointT>);
uniform_sampling.filter(*uniformResult);
std::cout << "UniformSampling size :" << uniformResult->size() << std::endl;
pcl::visualization::PointCloudColorHandlerCustom<PointT> red(uniformResult, 255, 0, 0);
viewer.addPointCloud(uniformResult, red, "cloud1");
cout << "voxel downsample size :" << uniformResult->size() << endl;
viewer.spin();
system("pause");
return 0;
}
参考链接:https://github.com/MNewBie/PCL-Notes/blob/master/chapter2.md
https://zhuanlan.zhihu.com/p/268524083