24 lines
709 B
C++
24 lines
709 B
C++
// pcl_wrapper.cpp
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#include <pcl/io/pcd_io.h>
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#include <pcl/filters/voxel_grid.h>
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#include <pcl/point_types.h>
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extern "C" {
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int filter_pcd(const char* input_path, const char* output_path, float leaf_size) {
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pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
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pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);
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if (pcl::io::loadPCDFile<pcl::PointXYZ>(input_path, *cloud) == -1)
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return -1;
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pcl::VoxelGrid<pcl::PointXYZ> sor;
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sor.setInputCloud(cloud);
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sor.setLeafSize(leaf_size, leaf_size, leaf_size);
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sor.filter(*cloud_filtered);
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pcl::io::savePCDFile(output_path, *cloud_filtered);
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return 0;
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}
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} |