如何解决使用pcl :: CropBox过滤器对点云进行配镜后,无法可视化已裁剪的点云
我一直在尝试了解pcl::CropBoX
过滤器,这就是为什么要尝试使用它。
但是,在这样做时,我遇到了这个问题:
- 我正在创建具有立方体形状的点云
- 可视化
- 使用
pcl::CropBox
过滤器裁剪原始点云 - 尝试可视化裁剪后的点云
但是,在可视化器中,对于第4步,我只能看到一个空白屏幕!
这是我的代码,main.cpp
:
#include <iostream>
#include <string>
#include <vector>
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/common/common.h>
#include <pcl/filters/crop_box.h>
int main()
{
pcl::PointCloud<pcl::PointXYZRGB>::Ptr
main_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>),cropped_cloud_ptr(new pcl::PointCloud<pcl::PointXYZRGB>);
// setting the dimension of a point cloud
float x_start = 0.25,x_end = 1.25,x_resolution = 0.05;
float y_start = 0.5,y_end = 2.0,y_resolution = 0.05;
float z_start = 0.0,z_end = 1.25,z_resolution = 0.05;
pcl::PointXYZRGB pt;
// generating a point cloud
for (float i = x_start; i < x_end; i += x_resolution)
{
for (float j = y_start; j < y_end; j += y_resolution)
{
for (float k = z_start; k < z_end; k += z_resolution)
{
pt.x = i;
pt.y = j;
pt.z = k;
pt.r = i * 100;
pt.g = 200;
pt.b = j * 100;
main_cloud_ptr->points.push_back(pt);
}
}
}
std::cout << main_cloud_ptr->points.size() << "\n";
// visualizing a main point cloud
pcl::visualization::CloudViewer viewer1("main_cloud_ptr viewer - cube");
viewer1.showCloud(main_cloud_ptr);
while (!viewer1.wasStopped())
{
}
// getting minimum & maximum x,y,and z values of a point cloud
pcl::PointXYZRGB min_pt,max_pt;
pcl::getMinMax3D(*main_cloud_ptr,min_pt,max_pt);
std::cout << "minimum " << min_pt.x << " " << min_pt.y << " " << min_pt.z << "\n";
std::cout << "maximum " << max_pt.x << " " << max_pt.y << " " << max_pt.z << "\n";
// setting pcl::CropBox filter
pcl::CropBox<pcl::PointXYZRGB> box_filter;
box_filter.setMin(Eigen::Vector4f(0.25,0.5,0.25,1.0));
box_filter.setMin(Eigen::Vector4f(1.25,2.0,0.75,1.0));
box_filter.setInputCloud(main_cloud_ptr);
box_filter.filter(*cropped_cloud_ptr);
// visualizing a cropped point cloud
pcl::visualization::CloudViewer viewer2("cropped_cloud_ptr");
viewer2.showCloud(cropped_cloud_ptr);
while (!viewer2.wasStopped())
{
}
return 0;
}
我的CMakeLists.txt
:
cmake_minimum_required(VERSION 3.1.0 FATAL_ERROR)
project(cropbox_experiment)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
find_package(PCL 1.3 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable (${PROJECT_NAME} main.cpp)
target_link_libraries (${PROJECT_NAME} ${PCL_LIBRARIES})
这是cropped point cloud
的输出(如您所见,它是空白的!):
您能告诉我我在哪里犯错误,为什么我为裁剪点云得到空白输出?据我所知,minimum
和{{1}的maximum
,x
和y
轴的z
和setMin
值} setMax
过滤器的方法正确。
解决方法
似乎您设置了两次 Min :
box_filter.setMin(Eigen::Vector4f(0.25,0.5,0.25,1.0));
box_filter.setMin(Eigen::Vector4f(1.25,2.0,0.75,1.0));
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