官方教程http://pointclouds.org/documentation/tutorials/passthrough.php#passthrough
这个教程里的带通滤波,不过是xyz轴下的某个坐标值范围内的数据保留下来,其他数据丢弃。比如截取z在0-1范围内的点。我用的是win10 x64 官方教程中的随机点生成部分改了一下。可能linux下用官方代码才能得到相同结果吧。
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>
int
main(int argc, char** argv)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);
// Fill in the cloud data
cloud->width = 5;
cloud->height = 1;
cloud->points.resize(cloud->width * cloud->height);
for (size_t i = 0; i < cloud->points.size(); ++i)
{
cloud->points[i].x = (rand()*3 - 2*RAND_MAX )/ (RAND_MAX + 1.0f);
cloud->points[i].y = (rand() * 3 - 2 * RAND_MAX) / (RAND_MAX + 1.0f);
cloud->points[i].z = (rand() * 3 - 2 * RAND_MAX) / (RAND_MAX + 1.0f);
}
std::cerr << "Cloud before filtering: " << std::endl;
for (size_t i = 0; i < cloud->points.size(); ++i)
std::cerr << " " << cloud->points[i].x << " "
<< cloud->points[i].y << " "
<< cloud->points[i].z << std::endl;
// Create the filtering object
pcl::PassThrough<pcl::PointXYZ> pass;
pass.setInputCloud(cloud);
pass.setFilterFieldName("z");
pass.setFilterLimits(0.0, 1.0);
//pass.setFilterLimitsNegative (true);
pass.filter(*cloud_filtered);
std::cerr << "Cloud after filtering: " << std::endl;
for (size_t i = 0; i < cloud_filtered->points.size(); ++i)
std::cerr << " " << cloud_filtered->points[i].x << " "
<< cloud_filtered->points[i].y << " "
<< cloud_filtered->points[i].z << std::endl;
return (0);
}
结果
Cloud before filtering:
-1.99619 -0.309235 -1.42004
0.426208 -0.244965 -0.560364
-0.949097 0.687866 0.468506
0.239807 -1.47763 0.576813
0.1315 -0.459381 -1.08798
Cloud after filtering:
-0.949097 0.687866 0.468506
0.239807 -1.47763 0.576813
滤波后保留下给定的z的范围内的点