PCL高斯滤波

一、代码

C++

#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/filters/convolution_3d.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
#include <pcl/search/kdtree.h>

void visualize_pcd(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_target)
{
    //创建初始化目标
    pcl::visualization::PCLVisualizer viewer("registration Viewer");
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> tgt_h(cloud_target, 255, 0, 0);
    viewer.setBackgroundColor(0, 0, 0);
    viewer.addPointCloud(cloud_target, tgt_h, "tgt cloud");

    while (!viewer.wasStopped())