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  • [PCL]ApproximateVoxelGrid

    点云滤波继承自Filter模板类

    注意Filter类的filter 方法调用了虚方法applyFilter:

     1 inline void  filter (PointCloud &output)
     2       {
     3         if (!initCompute ())
     4           return;
     5 
     6         if (input_.get () == &output)  // cloud_in = cloud_out
     7         {
     8           PointCloud output_temp;
     9           applyFilter (output_temp);
    10           output_temp.header = input_->header;
    11           output_temp.sensor_origin_ = input_->sensor_origin_;
    12           output_temp.sensor_orientation_ = input_->sensor_orientation_;
    13           pcl::copyPointCloud (output_temp, output);
    14         }
    15         else
    16         {
    17           output.header = input_->header;
    18           output.sensor_origin_ = input_->sensor_origin_;
    19           output.sensor_orientation_ = input_->sensor_orientation_;
    20           applyFilter (output);
    21         }
    22 
    23         deinitCompute ();
    24       }

    ApproximateVoxelGrid进行点云Filter

    效果图:

    原始点云66901个点,点云平均距离0.038253,采样参数(Grid size 0.2)后点云数目11924

     

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  • 原文地址:https://www.cnblogs.com/yhlx125/p/5578332.html
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