PclSharp--ExtractIndices滤波器分割子集

最新推荐文章于 2024-06-04 20:11:34 发布

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最新推荐文章于 2024-06-04 20:11:34 发布 · 402 阅读

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#c#

1、使用ExtractIndices滤波器，可以提取出点云中的子集。

2、代码：

using PclSharp;
using PclSharp.Common;
using PclSharp.Filters;
using PclSharp.Helpers;
using PclSharp.IO;
using PclSharp.SampleConsensus;
using PclSharp.Segmentation;
using PclSharp.Std;
using PclSharp.Struct;
using System;
using System.Numerics;
using System.Text;

namespace PclSharpTest
{
class Program
{
static void Main(string[] args)
{
Console.WriteLine($"C#--PclSharp算法库测试：");
//读取点云文件
var inCloud = new PointCloudOfXYZ();
using (var reader = new PCDReader())
reader.Read(AppDomain.CurrentDomain.BaseDirectory + $"//pcd//table.pcd", inCloud);
Console.WriteLine($"PointCloud before filtering：{inCloud.Count}data points");

//采用体素化滤波进行下采样：
PointCloudOfXYZ cloud_filtered = new PointCloudOfXYZ();//滤波后的点云
PointXYZ voxelpointXYZ = new PointXYZ { X = 0.01f, Y = 0.01f, Z = 0.01f };
using (var sor = new PclSharp.Filters.VoxelGridOfXYZ())
{
sor.SetInputCloud(inCloud);
sor.LeafSize = voxelpointXYZ;//体素点的大小
sor.filter(cloud_filtered);
}
//保存下采样后点云
&nb