C++ (Cpp) VoxelGrid::setFilterLimits Examples

Example #1

File: PointCloudFunctions.cpp Project: dtbinh/vmt

PointCloud<PointXYZI>::Ptr PointCloudFunctions::downSampleCloud(pcl::PointCloud<PointXYZI>::Ptr inputCloud, float leafSize, bool save, string fileNameToSave)
{
    PointCloud<PointXYZI>::Ptr downsampled(new PointCloud<PointXYZI> ());
    VoxelGrid<PointXYZI> sor;
    sor.setInputCloud (inputCloud);
    sor.setFilterLimits(0, 2000);
    sor.setLeafSize (leafSize, leafSize, leafSize);
    sor.filter (*downsampled);

    if (save)
    {
        savePCDFileASCII (fileNameToSave, *downsampled);
    }

    return downsampled;
}

Example #2

File: voxel_grid.cpp Project: rbart/guide-dog

void
compute (const sensor_msgs::PointCloud2::ConstPtr &input, sensor_msgs::PointCloud2 &output,
         float leaf_x, float leaf_y, float leaf_z, const std::string &field, double fmin, double fmax)
{
  TicToc tt;
  tt.tic ();
  
  print_highlight ("Computing ");

  VoxelGrid<sensor_msgs::PointCloud2> grid;
  grid.setInputCloud (input);
  grid.setFilterFieldName (field);
  grid.setFilterLimits (fmin, fmax);
  grid.setLeafSize (leaf_x, leaf_y, leaf_z);
  grid.filter (output);

  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}