PCL系列笔记——(滤波)Filter

直通滤波(PassThrough filter)

  这个滤波很直接，就是按照我们的设置的要求直接进行滤波，例如我们可以通过直通滤波直接得到z分量在(0-500)的点云。

  code

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

int main()
{	
	  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);
	
	  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