PCL下采样VoxelGrid点云滤波

不念不忘少年蓝@ 2023-02-28 04:16 13阅读 0赞

# VoxelGrid #

PCL实现的VoxelGrid类通过输入的点云数据创建一个三维体素栅格（可把体素栅格想象为微小的空间三维立方体的集合），然后在每个体素（即，三维立方体）内，用体素中所有点的重心来近似显示体素中其他点，这样该体素就内所有点就用一个重心点最终表示，对于所有体素处理后得到过滤后的点云。

# 代码 #

#include <iostream>
    #include <pcl/visualization/cloud_viewer.h>
    #include <pcl/io/io.h>
    #include <pcl/io/pcd_io.h>
    #include <pcl/point_types.h>
    #include <pcl/kdtree/kdtree_flann.h>
    #include <pcl/octree/octree.h>
    #include <boost/thread/thread.hpp>
    #include <pcl/common/common_headers.h>
    #include <pcl/features/normal_3d.h>
    #include <pcl/console/parse.h>
    #include <pcl/filters/passthrough.h>
    #include <pcl/filters/voxel_grid.h>
    //#include <bits/stdc++.h>
    #include <vector>
    #include <ctime>
    
    using namespace std;
    
    int main()
    {
        //可视化
        pcl::visualization::CloudViewer viewer("Cloud Viewer");
        //原点云
        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
        //下采样后点云
        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>());
    
    
        if (pcl::io::loadPCDFile<pcl::PointXYZ> ("cloud_001.pcd", *cloud) == -1){
                PCL_ERROR("couldn't read file");
                return 0;
        }
    
        cerr<<"cloud before filtering"<<endl;
        cerr<<cloud->points.size()<<endl;
        cerr<<cloud->height<<"  "<<cloud->width<<endl;
    
        //创建1cm的体素
        pcl::VoxelGrid<pcl::PointXYZ>sor;
        sor.setInputCloud(cloud);
        sor.setLeafSize(0.01f,0.01f,0.01f);
        sor.filter(*cloud_filtered);
    
        cerr<<"cloud after filtering"<<endl;
        cerr<<cloud_filtered->points.size()<<endl;
        cerr<<cloud_filtered->height<<"  "<<cloud_filtered->width<<endl;
    
        viewer.showCloud(cloud_filtered);
        while(!viewer.wasStopped());
        return 0;
    
    }

# 原图 #

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70][]

# 下采样后 #

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70 1][]

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70]: /images/20230209/9fa19a2aa20d4d10bd8d297739b610ff.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70 1]: https://img-blog.csdnimg.cn/20200719204646564.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1,size_16,color_FFFFFF,t_70