在PCL中使用VoxelGrid滤波器对点云进行滤波

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/io.h>
#include <pcl/visualization/cloud_viewer.h>

int user_data;
void
viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
viewer.setBackgroundColor(1.0, 0.5, 1.0);
pcl::PointXYZ o;
o.x = 1.0;
o.y = 0;
o.z = 0;
viewer.addSphere(o, 0.25, "sphere", 0);
std::cout << "i only run once" << std::endl;

}

void
viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
{
static unsigned count = 0;
std::stringstream ss;
ss << "Once per viewer loop: " << count++;
viewer.removeShape("text", 0);
viewer.addText(ss.str(), 200, 300, "text", 0);
//FIXME: possible race condition here:
user_data++;
}
int
main(int argc, char** argv)
{

pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>);
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZI>);
// 填入点云数据
pcl::io::loadPCDFile("table_scene_lms400.pcd", *cloud);

// 创建滤波器对象
pcl::VoxelGrid<pcl::PointXYZI> 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::visualization::CloudViewer viewer("Cloud Viewer");
//showCloud函数是同步的，在此处等待直到渲染显示为止
viewer.showCloud(cloud_filtered);
//该注册函数在可视化时只调用一次
viewer.runOnVisualizationThreadOnce(viewerOneOff);
//该注册函数在渲染输出时每次都调用
viewer.runOnVisualizationThread(viewerPsycho);
while (!viewer.wasStopped())
{
//在此处可以添加其他处理
user_data++;
}

return (0);
}