PCL基础

读取点云文件

string lane_cluster_path="demo.pcd";
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
if(pcl::io::loadPCDFile(lane_cluster_path, *cloud)==-1){
	cout << "load lane_cluster pcd error!" << endl;
	return -1;
}

保存点云文件

pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
// XXX
std::string save_path = "demo.pcd";
pcl::io::savePCDFileBinary(save_path, *cloud);

点云下采样

#include <pcl/filters/voxel_grid.h>
pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
pcl::VoxelGrid<pcl::PointXYZRGB> sor;
sor.setInputCloud (cloud);
sor.setLeafSize (0.3f, 0.3f, 0.3f);
sor.filter (*cloud);