直通滤波....

// 点云滤波模块


#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
#include <pcl/filters/passthrough.h>

// 点云显示
boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud) {
	// --------------------------------------------
    // -----Open 3D viewer and add point cloud-----
    // --------------------------------------------

    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer ("3D viewer"));
    viewer->setBackgroundColor(0, 0, 0);
    viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_FONT_SIZE, 3, "sample");
    viewer->initCameraParameters();

    return (viewer);

}
int main() {

// step1: 读取点云数据
	std::string path = "E:\\c++Code\\pcl\\ConsoleApplication1\\data\\filters\\table_scene_lms400.pcd";
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);  // boost 共享指针并进行实例化
    pcl::PointCloud<pcl::PointXYZ>::Ptr final(new pcl::PointCloud<pcl::PointXYZ>);

	if (pcl::io::loadPCDFile<pcl::PointXYZ>(path, *cloud)  == -1) {
		PCL_ERROR("Couldn't read file test_pcd.pcd \n");
		return (-1);
	}

    // 设置滤波器
    pcl::PassThrough<pcl::PointXYZ> pass;
    pass.setInputCloud(cloud);       //设置输入点云
    pass.setFilterFieldName("z");    //设置过滤时所需要点云类型的Z字段
    pass.setFilterLimits(-1.5, -1.3);
    pass.filter(*final);




    // 创建可视化对象并加入原始点云或者所有的局内点
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer1;
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer2;
    viewer1 = simpleVis(cloud);
    viewer2 = simpleVis(final);

    while (!viewer1->wasStopped())
    {
        viewer1->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }
    while (!viewer2->wasStopped())
    {
        viewer2->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }
}