pcl点云直通滤波

pcl点云库的直通滤波使用的函数 PassThrough。

执行的效果如下:

设置 z值范围 0.8~2

 设置x值为 0-1之间

叠加前面2个操作 

 实现klib的插件算子如下:

struct FilterPassThrough
{
	//FilterIndices
	bool extract_removed_indices = false;
	bool negative = false;
	bool keep_organized = false;
	float userFilterValue = std::numeric_limits<float>::quiet_NaN();
	//PassThrough
	float limit_max = (std::numeric_limits<int>::max)();
	float limit_min = -limit_max;
	
	string field_name = "z";

	template<class PT> inline
	pcl::shared_ptr<PointCloud<PT>> operator()(const pcl::shared_ptr<PointCloud<PT> >& cloud)
	{
		auto res = pcl::make_shared<PointCloud<PT>>();
		PassThrough<PT> f(extract_removed_indices);
		f.setNegative(negative);
		f.setKeepOrganized(keep_organized);
		f.setUserFilterValue(userFilterValue);
		f.setFilterLimits(limit_min, limit_max);
		f.setFilterFieldName(field_name);
		f.setInputCloud(cloud);
		f.filter(*res);
		return res;
	}
};


struct KPclFilterPassThrough : KPlugBase
{
	FilterPassThrough p;
	
	KPclFilterPassThrough()
	{
		addProp("extract_removed_indices").setType(PropTypeBool).setValueAddr(&p.extract_removed_indices);
		addProp("negative").setType(PropTypeBool).setValueAddr(&p.negative);
		addProp("keep_organized").setType(PropTypeBool).setValueAddr(&p.keep_organized);
		addProp("userFilterValue").setType(PropTypeFloat).setValueAddr(&p.userFilterValue);
		addProp("limit_min").setType(PropTypeFloat).setValueAddr(&p.limit_min);
		addProp("limit_max").setType(PropTypeFloat).setValueAddr(&p.limit_max);
		addProp("field_name").setType(PropTypeString).setValueAddr(&p.field_name);
	}

	int __exec(const KArbit& src, KArbit& dst) override
	{
		dst = cld_op(src, p);
		return true;
	}
};