9 直通滤波器

9.1 代码 

#include <iostream>
#include <ctime>
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>

#if 1
int main(int argc, char** argv)
{
	srand(time(0));
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);
	//填入点云数据
	cloud->width = 5;
	cloud->height = 1;
	cloud->points.resize(cloud->width * cloud->height);//5*1=5个无序点云
	for (size_t i = 0; i < cloud->points.size(); ++i)
	{
		cloud->points[i].x = rand() / (RAND_MAX + 1.0f) - 0.5;
		cloud->points[i].y = rand() / (RAND_MAX + 1.0f) - 0.5;
		cloud->points[i].z = rand() / (RAND_MAX + 1.0f) - 0.5;
	}
	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;
	// 创建滤波器对象
	pcl::PassThrough<pcl::PointXYZ> pass;   // 直通滤波对象
	pass.setInputCloud(cloud);              // 设置输入点云
	pass.setFilterFieldName("z");           // 指定 z字段属性
	pass.setFilterLimits(0.0, 1.0);         // 设置过滤字段范围
	//pass.setFilterLimitsNegative(true);    // 是保留范围内还是范围之外
	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);
}
#endif

 9.2 结果

9.3  解析 

pass.setFilterLimitsNegative(true);功能作用--是否保存滤波的限制范围内的点云，默认为false，保存限制范围点云，这里即是z的0-1之间的范围电晕，true时候是相反。