主要思想就是给定切片间隔，用直通滤波不停的切割点云并保存。输入点云和切片厚度，输出各个切片。以下是代码。程序是按照z轴进行切片，想按照x或者y轴切的话改一下就行，切片厚度为sliceInterval。代码参考了点云切片算法程序。原文我没咋看懂是个啥算法，看懂的可以留言或者私聊教教我，十分感谢。保存点云命名那一块我没咋改，可以自己设置一个参数n来替换bs，输出的切片文件名会好看一点。

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#include <pcl/ModelCoefficients.h> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/filters/extract_indices.h> #include <pcl/filters/passthrough.h> #include <pcl/features/normal_3d.h> #include <pcl/sample_consensus/method_types.h> #include <pcl/sample_consensus/model_types.h> #include <pcl/segmentation/sac_segmentation.h> #include <pcl/visualization/pcl_visualizer.h> #include <pcl/common/centroid.h> #include <pcl/common/transforms.h> #include <pcl/common/common.h> #include <iostream> #include <pcl/visualization/cloud_viewer.h> #include<string> #include<math.h> using namespace std; int main(int argc, char argv) { pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::PointCloud<pcl::PointXYZ>::Ptr finallycloud(new pcl::PointCloud<pcl::PointXYZ>); string inputPCDName="shiyan.pcd"; pcl::io::loadPCDFile(inputPCDName, *cloud); pcl::PointXYZ minValues;//用于存放三个轴的最小值 pcl::PointXYZ maxValues;//用于存放三个轴的最大值 pcl::getMinMax3D(*cloud, minValues, maxValues);//得到输入点云x，y，z三个轴上的最小值最大值 double zMax = maxValues.z;//点云z轴最大值赋给zMax double zMin = minValues.z; double sliceInterval = 0.001; int sliceNum = floor((zMax - zMin) / sliceInterval) - 1;//算出点云切片数量 std::cout << "slice number: " << sliceNum << endl; double sliceBeginCoordinate = zMin + (zMax - zMin - sliceNum * sliceInterval) / 2 + sliceInterval / 2;//点云开始位置 std::cout << "slice Begin Coordinate: " << sliceBeginCoordinate << endl; std::cout << "slice End Coordinate: " << sliceBeginCoordinate + sliceNum * sliceInterval << endl; for (float base = sliceBeginCoordinate; base <= sliceBeginCoordinate + sliceNum * sliceInterval; base = base + sliceInterval) { float d = sliceInterval;//点云切片厚度，根据点云的最小距离确定 float bs = base; //-------------------------------------------------保存点云文件命名-------------------------------------------------------------- std::string pcd_file_name; // cout<<"file name input:"<< endl; //cin>>pcd_file_name; //cout<<"slice z label base:"<< endl; //cin>>bs; std::string bs_string; std::stringstream ss; //定义流ss ss << float(bs); ss >> bs_string; std::string slice_name = inputPCDName.substr(0, inputPCDName.rfind("."));//取inputPCDName中'.'前面的字符串 std::string kuohao = "("; std::string extension = ").pcd"; slice_name = slice_name + kuohao; slice_name = slice_name + bs_string; slice_name = slice_name + extension;//slice_name=slice_name(base).pcd //--------------------------------------------------------------------------------------------------------------------------------- //----------------------------------------------------------点云切片--------------------------------------------------------------- pcl::PassThrough<pcl::PointXYZ> pass; //直通滤波对象 pass.setInputCloud(cloud); pass.setFilterFieldName("z"); pass.setFilterLimits(-0.5*d + bs, 0.5*d + bs); pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_belt(new pcl::PointCloud<pcl::PointXYZ>); pass.filter(*cloud_belt); int l_n = cloud_belt->points.size(); pcl::io::savePCDFile(slice_name, *cloud_belt); } return(0); }