PCL滤波--passthrough

#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>);


	cloud->width = 5;
	cloud->height = 1;
	cloud->points.resize(cloud->width * cloud->height);

	for (auto& point : *cloud)
	{
		point.x = 1024 * rand() / (RAND_MAX + 1.0f);
		point.y = 1024 * rand() / (RAND_MAX + 1.0f);
		point.z = 1024 * rand() / (RAND_MAX + 1.0f);
	}

	std::cerr << "Cloud before filtering : " << std::endl;

	for (const auto& p: *cloud)
	{
		std::cerr << "   " << p.x << "   "
			<< p.y << "   "
			<< p.z << "   "<<std::endl;
	
	}


	pcl::PassThrough < pcl::PointXYZ> pass;

	pass.setInputCloud(cloud);

	//多次设置 前面的设置会失效，按最后一个设置来滤波
	pass.setFilterFieldName("z");
	pass.setFilterLimits(0.0, 500.0);

	//下面的会生效 上面的会失效
	pass.setFilterFieldName("x");
	pass.setFilterLimits(0.0, 500.0);

	pass.filter(*cloud_filtered);

	std::cerr << "Cloud after filtering : " << std::endl;

	for (const auto& p : *cloud_filtered)
	{
		std::cerr << "   " << p.x << "   "
			<< p.y << "   "
			<< p.z << "   " << std::endl;
	}

	std::cerr << "end of main procedure" << std::endl;


	return 0;
}