使用半径滤波对PointCloud进行下采样-3

最新推荐文章于 2025-08-22 20:07:37 发布

原创最新推荐文章于 2025-08-22 20:07:37 发布 · 300 阅读

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关键函数

（1）设置点云邻域搜索的邻域半径；取点云一定半径内的邻域点。

setRadiusSearch()

（2）设置点云邻域搜索之后，如果某点邻域点的个数小于某个值，那么被判断为离群点，则删除。

setMinNeighborsInRadius()

源文件RadiusOutlierRemoval.cpp

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/common/time.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
 
int main()
{
    /****************半径滤波********************/
    // 原始点云
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
    pcl::io::loadPCDFile("D:/code/csdn/data/JZDM.pcd", *cloud);   // 加载原始点云数据
    // 结果点云
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZRGB>);
 
    // 半径滤波
    pcl::RadiusOutlierRemoval<pcl::PointXYZRGB> filters;
    filters.setInputCloud(cloud);
    filters.setRadiusSearch(0.3);                                      // 邻域半径
    filters.setMinNeighborsInRadius(50);                               // 当某个点云点邻域半径内的点数<10时删除
    filters.filter(*cloud_filtered);
 
    /****************展示********************/
    boost::shared_ptr<pcl::visualization::PCLVisualizer> view_raw(new pcl::visualization::PCLVisualizer("raw"));
    view_raw->addPointCloud<pcl::PointXYZRGB>(cloud, "raw cloud");
    view_raw->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "raw cloud");
 
    boost::shared_ptr<pcl::visualization::PCLVisualizer> view_filtered(new pcl::visualization::PCLVisualizer("filter"));
    view_filtered->addPointCloud<pcl::PointXYZRGB>(cloud_filtered, "filtered cloud");
    view_filtered->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "filtered cloud");
 
    while (!view_raw->wasStopped())
    {
        view_raw->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }
    while (!view_filtered->wasStopped())
    {
        view_filtered->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }
 
    return 0;
}

或者

#include <pcl/io/pcd_io.h>  //文件输入输出
#include <pcl/point_types.h>  //点类型相关定义
#include <pcl/visualization/cloud_viewer.h>  //点云可视化相关定义
#include <pcl/filters/radius_outlier_removal.h>  //滤波相关
#include <pcl/common/common.h>  
#include <iostream>
 
using namespace std;
 
int main()
{
	//1.读取点云
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PCDReader r;
	r.read<pcl::PointXYZ>("data\\table_scene_lms400.pcd", *cloud);
	cout << "there are " << cloud->points.size() << " points before filtering." << endl;
 
	//2.半径滤波
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filter(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::RadiusOutlierRemoval<pcl::PointXYZ> sor;  // 创建滤波器
	sor.setInputCloud(cloud); //设置输入点云
	sor.setRadiusSearch(0.02); //设置在radius半径的范围内找邻近点
	sor.setMinNeighborsInRadius(15); //设置查询点的邻近点集数小于15的删除
	sor.setNegative(false); 
	sor.filter(*cloud_filter); //执行条件滤波，存储结果到cloud_filte
 
	//3.滤波结果保存
	pcl::PCDWriter w;
	w.writeASCII<pcl::PointXYZ>("data\\table_scene_lms400_Radius_filter.pcd", *cloud_filter);
	cout << "there are " << cloud_filter->points.size() << " points after filtering." << endl;
 
	system("pause");
	return 0;
}