点云库PCL学习笔记 -- 点云滤波Filtering -- 1.直通滤波器

• • 1. 直通滤波器代码
  • 2. 编译文件
  • 3. 测试

1. 直通滤波器代码

直通滤波器代码passthrough.cpp

#include <iostream>
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>

int
 main (int argc, char** argv)
{
  //定义并实例化一个PointCloud指针对象，并用随机点集赋值给它
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);

  //填充点云数据
  cloud->width  = 5;
  cloud->height = 1;
  cloud->points.resize (cloud->width * cloud->height);

  for (size_t i = 0; i < cloud->points.size (); ++i)
  {
    point.x = 1024 * rand () / (RAND_MAX + 1.0f);
    point.y = 1024 * rand () / (RAND_MAX + 1.0f);
    point.z = 1024 * rand () / (RAND_MAX + 1.0f);
  }

  //打印随机生成的点云数据
  std::cerr << "Cloud before filtering: " << std::endl;
  for ((size_t i = 0; i < cloud->points.size (); ++i)
    std::cerr << "    " << point.x << " "
                        << point.y << " "
                        << point.z << std::endl;

  //创建过滤对象
  pcl::PassThrough<pcl::PointXYZ> pass;		//设置滤波器对象
  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 (0.0, 1.0);			//设置过滤字段上的范围，范围大小为（0.0 ~ 1.0）
  //pass.setFilterLimitsNegative (true);	//设置保留范围内的还是过滤掉范围内的，true为保留
  pass.filter (*cloud_filtered);			//执行滤波，保存过滤结果在 cloud_filtered

  //打印出过滤结果相关数据
  std::cerr << "Cloud after filtering: " << std::endl;
  for (size_t i = 0; i < cloud_filtered->points.size (); ++i)
    std::cerr << "    " << point.x << " "
                        << point.y << " "
                        << point.z << std::endl;

  return (0);
}

2. 编译文件

设置编译文件CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(passthrough)
find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (passthrough passthrough.cpp)
target_link_libraries (passthrough ${PCL_LIBRARIES})

mkdir build
cd build/
cmake ..
make

3. 测试

执行程序

cd ..
./build/passthrough

结果如下：
从结果可以看出，滤波后的点云Z轴上的数据在（0.0~1.0）的数据范围内