从pcl :: PointCloud< pcl :: PointXYZRGB>中删除点 [英] Removing points from a pcl::PointCloud<pcl::PointXYZRGB>

问题描述

我是PCL的新手.我正在使用PCL库，正在寻找一种从点云中提取点或将特定点复制到新点的方法.我想验证每个点是否符合条件，并且我想获得只包含好点的点云.谢谢！

I'm new in PCL. I'm using the PCL library and I'm looking for a way to extract points from a point cloud or copying particular points to a new one. I want to verify for each point if it respects a condition and I want to obtain a point cloud with only the good points.Thank you!

推荐答案

使用ExtractIndices类:

Use the ExtractIndices class:

• 将要删除的点添加到PointIndices变量
• 将这些指数传递给ExtractIndices
• 负向"运行filter()方法以获取原始云减去您的点数

示例:

  pcl::PointCloud<pcl::PointXYZ>::Ptr p_obstacles(new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointIndices::Ptr inliers(new pcl::PointIndices());
  pcl::ExtractIndices<pcl::PointXYZ> extract;
  for (int i = 0; i < (*p_obstacles).size(); i++)
  {
    pcl::PointXYZ pt(p_obstacles->points[i].x, p_obstacles->points[i].y, p_obstacles->points[i].z);
    float zAvg = 0.5f;
    if (abs(pt.z - zAvg) < THRESHOLD) // e.g. remove all pts below zAvg
    {
      inliers->indices.push_back(i);
    }
  }
  extract.setInputCloud(p_obstacles);
  extract.setIndices(inliers);
  extract.setNegative(true);
  extract.filter(*p_obstacles);

这篇关于从pcl :: PointCloud< pcl :: PointXYZRGB>中删除点的文章就介绍到这了，希望我们推荐的答案对大家有所帮助，也希望大家多多支持IT屋！