直通滤波（PassThrough 过滤器）

直通滤波（PassThrough 过滤器）|优快云创作打卡

学习如何沿指定维度删除值落在用户给定间隔内/外的点，删除指定一个方向上的小于min、大于max的值。

setFilterLimits(min, max)

#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>);
  // Fill in the cloud data

  cloud->width = 5;

  cloud->height = 1;

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

  //随机赋值

  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& point : *cloud)

​    std::cerr << "  " << point.x << " "

​    << point.y << " "

​    << point.z << std::endl;

  //核心代码

  // Create the filtering object

  pcl::PassThrough<pcl::PointXYZ> pass;  //创建和选择要过滤的点云的类型

  pass.setInputCloud(cloud);       //选择要过滤的点云

  pass.setFilterFieldName("z");

  pass.setFilterLimits(0.0, 200);

  //pass.setFilterLimitsNegative (true);

  pass.filter(*cloud_filtered);

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

  for (const auto& point : *cloud_filtered)

​    std::cerr << "  " << point.x << " "

​    << point.y << " "

​    << point.z << std::endl;

  return (0);

}