[PCL]ApproximateVoxelGrid

點雲濾波繼承自Filter模板類

注意Filter類的filter 方法調用了虛方法applyFilter：

inline void  filter (PointCloud &output)
      {
        if (!initCompute ())
          return;

        if (input_.get () == &output)  // cloud_in = cloud_out
        {
          PointCloud output_temp;
          applyFilter (output_temp);
          output_temp.header = input_->header;
          output_temp.sensor_origin_ = input_->sensor_origin_;
          output_temp.sensor_orientation_ = input_->sensor_orientation_;
          pcl::copyPointCloud (output_temp, output);
        }
        else
        {
          output.header = input_->header;
          output.sensor_origin_ = input_->sensor_origin_;
          output.sensor_orientation_ = input_->sensor_orientation_;
          applyFilter (output);
        }

        deinitCompute ();
      }

 

 

ApproximateVoxelGrid進行點雲Filter

效果圖：

原始點雲66901個點，點雲平均距離0.038253，采樣參數（Grid size 0.2）后點雲數目11924