请给出基于pcl点云库进行中值滤波的c++代码示例
时间: 2023-12-19 12:03:00 浏览: 54
```cpp
#include <iostream>
#include <pcl/point_cloud.h>
#include <pcl/filters/median_filter.h>
int main()
{
// 创建点云对象
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// 添加点到点云中
for (float x = 0; x < 5; x+=0.5)
{
for (float y = 0; y < 5; y+=0.5)
{
for (float z = 0; z < 5; z+=0.5)
{
pcl::PointXYZ point;
point.x = x;
point.y = y;
point.z = z;
cloud->push_back(point);
}
}
}
// 创建中值滤波对象
pcl::MedianFilter<pcl::PointXYZ> median_filter;
median_filter.setInputCloud(cloud);
median_filter.setWindowSize(3); // 设置滤波窗口大小为3x3x3
// 执行中值滤波
pcl::PointCloud<pcl::PointXYZ>::Ptr filtered_cloud(new pcl::PointCloud<pcl::PointXYZ>);
median_filter.filter(*filtered_cloud);
// 输出滤波前后的点云大小
std::cout << "Original cloud size: " << cloud->size() << std::endl;
std::cout << "Filtered cloud size: " << filtered_cloud->size() << std::endl;
return 0;
}
```
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