voxelfilter.hpp

#ifndef VOXELFILTER_HPP
#define VOXELFILTER_HPP
#include <iostream>
#include <pcl/PCLPointCloud2.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/ply_io.h>

inline void voxelGridFilter(std::string plyFilePath, float leafSize) {
  // load ply file
  pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2());
  pcl::io::loadPLYFile("../pointClouds/" + plyFilePath, *cloud);

  std::cout << "Finished loading ply file with " << cloud->width * cloud->height
            << " points" << std::endl;

  // create filtering object
  pcl::PCLPointCloud2::Ptr outputCloud(new pcl::PCLPointCloud2());
  pcl::VoxelGrid<pcl::PCLPointCloud2> voxelGrid;
  voxelGrid.setInputCloud(cloud);
  voxelGrid.setLeafSize(leafSize, leafSize, leafSize);
  voxelGrid.filter(*outputCloud);

  std::cout << "Finished filtering point cloud with "
            << outputCloud->width * outputCloud->height << " points"
            << std::endl;

  std::cout << "The reduction is "
            << (1 - (float(outputCloud->width * outputCloud->height) /
                     float(cloud->width * cloud->height))) *
                   100
            << "%" << std::endl;

  // save file to ply
  pcl::io::savePLYFile("../pointClouds/downsampled_" + plyFilePath,
                       *outputCloud);
}
#endif // !VOXELFILTER_HPP