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feat: 添加点云去噪及其参数调整

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YusenZhao
2026-03-04 15:59:39 +08:00
parent c2b525d948
commit a6e2e3280a
10 changed files with 2536 additions and 258 deletions
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7
src/gui/PointCloudGLWidget.cpp
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@@ -257,17 +257,18 @@ void PointCloudGLWidget::updatePointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cl
for (const auto& point : cloud->points) {
if (point.z > 0.01f) { // 过滤掉无效的零点
const float displayZ = -point.z; // Flip front/back axis for viewer convention.
m_vertices.push_back(point.x);
m_vertices.push_back(-point.y);
m_vertices.push_back(point.z);
m_vertices.push_back(displayZ);
// 更新包围盒
if (point.x < minX) minX = point.x;
if (point.x > maxX) maxX = point.x;
if (point.y < minY) minY = point.y;
if (point.y > maxY) maxY = point.y;
if (point.z < minZ) minZ = point.z;
if (point.z > maxZ) maxZ = point.z;
if (displayZ < minZ) minZ = displayZ;
if (displayZ > maxZ) maxZ = displayZ;
}
}