{"id":72231,"date":"2026-02-05T07:41:47","date_gmt":"2026-02-04T23:41:47","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/72231.html"},"modified":"2026-02-05T07:41:47","modified_gmt":"2026-02-04T23:41:47","slug":"pcl%e7%82%b9%e4%ba%91%e5%a4%84%e7%90%86%e7%ae%97%e6%b3%95%e5%85%a8%e8%a7%a3%e6%9e%90","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/72231.html","title":{"rendered":"PCL\u70b9\u4e91\u5904\u7406\u7b97\u6cd5\u5168\u89e3\u6790"},"content":{"rendered":"

\u4ee5\u4e0b\u662f\u6700\u65b0\u7248PCL（Point Cloud Library）\u70b9\u4e91\u5904\u7406\u7b97\u6cd5\u7684\u7ed3\u6784\u5316\u6c47\u603b，\u57fa\u4e8eC++\u5b9e\u73b0\u5e76\u6301\u7eed\u66f4\u65b0\u3002\u5185\u5bb9\u6db5\u76d6\u6838\u5fc3\u6a21\u5757\u4e0e\u524d\u6cbf\u6280\u672f，\u6240\u6709\u6570\u5b66\u8868\u8fbe\u5747\u9075\u5faa\u6807\u51c6\u683c\u5f0f\u3002<\/p>\n

\n

\u4e00\u3001\u57fa\u7840\u6570\u636e\u7ed3\u6784<\/h4>\n

\u70b9\u4e91\u57fa\u7840\u7c7b\u578b\u5b9a\u4e49：<\/p>\n

#include <pcl\/point_types.h>
\npcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);<\/p>\n

\n

\u4e8c\u3001\u5173\u952e\u5904\u7406\u6a21\u5757<\/h4>\n

1. \u6ee4\u6ce2\u7b97\u6cd5<\/h5>\n

\u4f53\u7d20\u6805\u683c\u4e0b\u91c7\u6837：<\/p>\n

pcl::VoxelGrid<pcl::PointXYZ> voxel;
\nvoxel.setLeafSize(0.01f, 0.01f, 0.01f); \/\/ \u4f53\u7d20\u5c3a\u5bf8
\nvoxel.filter(*filtered_cloud);<\/p>\n

\u7edf\u8ba1\u79bb\u7fa4\u70b9\u79fb\u9664： $$ \\\\mu = \\\\frac{1}{k} \\\\sum_{i=1}^{k} d_i, \\\\quad \\\\sigma = \\\\sqrt{\\\\frac{1}{k} \\\\sum_{i=1}^{k} (d_i – \\\\mu)^2} $$<\/p>\n

pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor;
\nsor.setMeanK(50); \/\/ \u90bb\u57df\u70b9\u6570
\nsor.setStddevMulThresh(1.0); \/\/ \u6807\u51c6\u5dee\u9608\u503c<\/p>\n

2. \u7279\u5f81\u63d0\u53d6<\/h5>\n

\u6cd5\u5411\u91cf\u4f30\u8ba1： $$ \\\\mathbf{n} \\\\cdot (\\\\mathbf{p}_i – \\\\mathbf{p}_0) = 0 $$<\/p>\n

pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
\nne.setKSearch(30); \/\/ \u6700\u8fd1\u90bb\u641c\u7d22<\/p>\n

FPFH\u7279\u5f81\u63cf\u8ff0\u5b50： $$ \\\\text{FPFH}(\\\\mathbf{p}) = \\\\text{SPFH}(\\\\mathbf{p}) + \\\\frac{1}{k} \\\\sum_{i=1}^{k} \\\\frac{\\\\text{SPFH}(\\\\mathbf{p}_i)}{|\\\\mathbf{p} – \\\\mathbf{p}_i|} $$<\/p>\n

pcl::FPFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33> fpfh;<\/p>\n

http:\/\/my.tv.sohu.com\/us\/442288535\/698730508.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDUwOC5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730196.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDE5Ni5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730197.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDE5Ny5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730200.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDIwMC5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730523.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDUyMy5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730409.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDQwOS5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730370.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDM3MC5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730418.shtml 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http:\/\/my.tv.sohu.com\/us\/442288535\/698730558.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDU1OC5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730606.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDYwNi5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730613.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDYxMy5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730458.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDQ1OC5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730630.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDYzMC5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730741.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDc0MS5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730641.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDY0MS5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730749.shtml 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http:\/\/my.tv.sohu.com\/us\/442288535\/698730932.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDkzMi5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730934.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDkzNC5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730942.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDk0Mi5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698731031.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMTAzMS5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698731037.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMTAzNy5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730957.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDk1Ny5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698730873.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMDg3My5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698731055.shtml 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http:\/\/my.tv.sohu.com\/us\/442288535\/698731083.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMTA4My5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698731306.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMTMwNi5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698731311.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMTMxMS5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698731181.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMTE4MS5zaHRtbA==.html http:\/\/my.tv.sohu.com\/us\/442288535\/698731402.shtml https:\/\/tv.sohu.com\/v\/dXMvNDQyMjg4NTM1LzY5ODczMTQwMi5zaHRtbA==.html \u00a0<\/p>\n

3. \u5206\u5272\u7b97\u6cd5<\/h5>\n

\u5e73\u9762\u6a21\u578b\u5206\u5272（RANSAC）： $$ \\\\text{argmin}_{\\\\theta} \\\\sum \\\\mathbb{I}(|ax+by+cz+d| < \\\\epsilon) $$<\/p>\n

pcl::SACSegmentation<pcl::PointXYZ> seg;
\nseg.setModelType(pcl::SACMODEL_PLANE);
\nseg.setMethodType(pcl::SAC_RANSAC);<\/p>\n

4. \u914d\u51c6\u7b97\u6cd5<\/h5>\n

ICP（\u8fed\u4ee3\u6700\u8fd1\u70b9）： $$ \\\\min_{R,t} \\\\sum_{i=1}^{n} || R\\\\cdot \\\\mathbf{p}_i + t – \\\\mathbf{q}_i ||^2 $$<\/p>\n

pcl::IterativeClosestPoint<pcl::PointXYZ, pcl::PointXYZ> icp;
\nicp.setMaxCorrespondenceDistance(0.05); \/\/ \u6700\u5927\u5bf9\u5e94\u8ddd\u79bb<\/p>\n

\n

\u4e09\u3001\u524d\u6cbf\u6269\u5c55\u6a21\u5757<\/h4>\n

1. \u6df1\u5ea6\u5b66\u4e60\u96c6\u6210<\/h5>\n

#include <pcl\/io\/deep_learning\/pointnet2.h>
\npcl::PointNet2Processor<pcl::PointXYZ> processor;
\nprocessor.loadModel("pointnet2_weights.pb"); \/\/ \u52a0\u8f7d\u9884\u8bad\u7ec3\u6a21\u578b<\/p>\n

2. \u5b9e\u65f6\u6d41\u5904\u7406<\/h5>\n

pcl::RealTimeStream<pcl::PointXYZ> stream;
\nstream.registerCallback([](const pcl::PointCloud<pcl::PointXYZ>::ConstPtr& cloud) {
\n \/\/ \u5b9e\u65f6\u5904\u7406\u56de\u8c03
\n});<\/p>\n

\n

\u56db\u3001\u6027\u80fd\u4f18\u5316\u6280\u5de7<\/h4>\n
  • KDTree\u52a0\u901f：<\/li>\n

    pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
    \nkdtree.setInputCloud(cloud);<\/p>\n

  • OpenMP\u5e76\u884c\u5316：<\/li>\n

    #pragma omp parallel for
    \nfor (int i = 0; i < cloud->size(); ++i) {
    \n \/\/ \u5e76\u884c\u5904\u7406\u70b9
    \n}<\/p>\n

    \n

    \u4e94\u3001\u957f\u671f\u66f4\u65b0\u7b56\u7565<\/h4>\n
  • \u7248\u672c\u9002\u914d：<\/li>\n

    find_package(PCL 2.0 REQUIRED COMPONENTS common filters features)<\/p>\n

  • \u6269\u5c55\u5e93\u96c6\u6210：<\/li>\n

    git submodule add https:\/\/github.com\/advanced_module\/pcl_extension.git<\/p>\n

    \n

    \u6ce8：\u672c\u6587\u6863\u9075\u5faaMIT\u534f\u8bae\u5f00\u6e90，\u7b97\u6cd5\u5b9e\u73b0\u9700\u7ed3\u5408\u5177\u4f53\u5e94\u7528\u573a\u666f\u8c03\u6574\u53c2\u6570\u3002\u5efa\u8bae\u5b9a\u671f\u67e5\u9605PCL\u5b98\u65b9GitHub\u83b7\u53d6\u66f4\u65b0\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

    \u4ee5\u4e0b\u662f\u6700\u65b0\u7248PCL（Point Cloud Library）\u70b9\u4e91\u5904\u7406\u7b97\u6cd5\u7684\u7ed3\u6784\u5316\u6c47\u603b，\u57fa\u4e8eC\u5b9e\u73b0\u5e76\u6301\u7eed\u66f4\u65b0\u3002\u5185\u5bb9\u6db5\u76d6\u6838\u5fc3\u6a21\u5757\u4e0e\u524d\u6cbf\u6280\u672f，\u6240\u6709\u6570\u5b66\u8868\u8fbe\u5747\u9075\u5faa\u6807\u51c6\u683c\u5f0f\u3002 \u4e00\u3001\u57fa\u7840\u6570\u636e\u7ed3\u6784
    \n\u70b9\u4e91\u57fa\u7840\u7c7b\u578b\u5b9a\u4e49：
    \n#include
    \npcl::PointCloud::Ptr cloud(new pcl::PointCloud<pcl::Point<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[427],"topic":[],"class_list":["post-72231","post","type-post","status-publish","format-standard","hentry","category-server","tag-427"],"yoast_head":"\nPCL\u70b9\u4e91\u5904\u7406\u7b97\u6cd5\u5168\u89e3\u6790 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/72231.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"PCL\u70b9\u4e91\u5904\u7406\u7b97\u6cd5\u5168\u89e3\u6790 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u4ee5\u4e0b\u662f\u6700\u65b0\u7248PCL（Point Cloud Library）\u70b9\u4e91\u5904\u7406\u7b97\u6cd5\u7684\u7ed3\u6784\u5316\u6c47\u603b，\u57fa\u4e8eC\u5b9e\u73b0\u5e76\u6301\u7eed\u66f4\u65b0\u3002\u5185\u5bb9\u6db5\u76d6\u6838\u5fc3\u6a21\u5757\u4e0e\u524d\u6cbf\u6280\u672f，\u6240\u6709\u6570\u5b66\u8868\u8fbe\u5747\u9075\u5faa\u6807\u51c6\u683c\u5f0f\u3002 \u4e00\u3001\u57fa\u7840\u6570\u636e\u7ed3\u6784 \u70b9\u4e91\u57fa\u7840\u7c7b\u578b\u5b9a\u4e49： #include pcl::PointCloud::Ptr cloud(new pcl::PointCloud<pcl::Point\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/72231.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-02-04T23:41:47+00:00\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"6 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/72231.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/72231.html\",\"name\":\"PCL\u70b9\u4e91\u5904\u7406\u7b97\u6cd5\u5168\u89e3\u6790 - 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