ch08——8.3.1在PCL中使用直通滤波器对点云进行滤波处理

ch08——8.3.1在PCL中使用直通滤波器对点云进行滤波处理

1.本节学习如何对指定的某一维度实行一个简单滤波，即去掉在用户指定范围内部或外部的点。

2.代码

#include <iostream>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>//直通滤波头文件
#include <pcl/io/pcd_io.h>
using namespace std;
using namespace pcl;

int main() {
	PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<PointXYZ>);
	PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<PointXYZ>);
	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 = 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;
	}
	cout << "Cloud before filtering:" << endl;
	for (size_t i = 0; i < cloud->points.size(); i++)
	{
		cout << " " << cloud->points[i].x << " " << cloud->points[i].y << " " << cloud->points[i].z << " " << endl;
	}
	//创建直通滤波器对象
	pcl::PassThrough<pcl::PointXYZ>pass;
	pass.setInputCloud(cloud);//设置输入点云
	//滤波字段设为Z轴方向，范围(0.0,1.0),将点云中所有点的z坐标不在该范围内的点过滤掉。
	pass.setFilterFieldName("z")
	pass.setFilterLimits(0.0,1.0);
	pass.filter(*cloud_filtered);//将结果存储在cloud_filtered
	//打印结果
	cout << "cloud after filtering " << endl;
	for (size_t i = 0; i < cloud_filtered->points.size(); i++)
	{
		cout << " " << cloud_filtered->points[i].x << " " << cloud_filtered->points[i].y
			<< " " << cloud_filtered->points[i].z << " " << endl;
	}
	return 0;
}

3.显示