这个教程学习如何使用简单的滤波器,沿着指定维,过滤掉指定范围内外的值。
#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 = 1024 * rand () / (RAND_MAX + 1.0f);
cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
cloud->points[i].z = 1024 * rand () / (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);
}
一步一步来分析这些代码。
首先,我们创建一个PointCloud,填充数据。
然后创建一个直通滤波器并且设置参数。过滤器字段的名字设置为“Z”,接受的区间值设置为(0.0, 1.0);
即:保留z轴上z值为0.0-1.0之间的值的点,其他点均过滤掉。
运行程序,你会看到类似如下的结果。
Cloud before filtering:
0.352222 -0.151883 -0.106395
-0.397406 -0.473106 0.292602
-0.731898 0.667105 0.441304
-0.734766 0.854581 -0.0361733
-0.4607 -0.277468 -0.916762
Cloud after filtering:
-0.397406 -0.473106 0.292602
-0.731898 0.667105 0.441304