pcl 带通滤波

最新推荐文章于 2024-06-27 17:17:01 发布

阿廖沙JackWant

最新推荐文章于 2024-06-27 17:17:01 发布

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分类专栏：学习教程文章标签： pcl点云库

本文链接：https://blog.csdn.net/u013351270/article/details/68942886

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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