PassThrough直通滤波实现

最新推荐文章于 2024-08-12 11:07:17 发布

给算法爸爸上香

最新推荐文章于 2024-08-12 11:07:17 发布

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文章标签：算法计算机视觉

本文链接：https://blog.csdn.net/taifyang/article/details/117605858

版权

原理：对指定的某一维度进行滤波，去掉用户指定字段范围内（或外）的点。

void passthrough(pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud, pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud_filtered,
	std::string field_name, float limit_min, float limit_max, bool limit_negative = false)
{
	vector<int> index;
	for (size_t i = 0; i < cloud->points.size(); ++i)
	{
		if (field_name == "x")
		{
			if (cloud->points[i].x >= limit_min && cloud->points[i].x <= limit_max)
				index.push_back(i);
		}
		if (field_name == "y")
		{
			if (cloud->points[i].y >= limit_min && cloud->points[i].y <= limit_max)
				index.push_back(i);
		}
		if (field_name == "z")
		{
			if (cloud->points[i].z >= limit_min && cloud->points[i].z <= limit_max)
				index.push_back(i);
		}
	}

	boost::shared_ptr<std::vector<int>> index_ptr = boost::make_shared<std::vector<int>>(index);
	pcl::ExtractIndices<pcl::PointXYZ> extract;
	extract.setInputCloud(cloud);
	extract.setIndices(index_ptr);
	extract.setNegative(limit_negative);
	extract.filter(*cloud_filtered);
}