【PCL】（八）PassThrough滤波器滤除点云指定范围以外或以内的点_pcl 点云 passthrough

（八）PassThrough滤波器

以下代码实现沿着指定的维度滤除指定范围以外或以内的点。

passthrough.cpp

#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>);

  // 5个点的点云，坐标值介于-1和1之间
  //https://blog.csdn.net/qq_45182713/article/details/123760203
  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.y << " "
                        << point.z << std::endl;

  // 创建PassThrough滤波器对象 
  pcl::PassThrough<pcl::PointXYZ> pass;
  pass.setInputCloud (cloud);
  pass.setFilterFieldName ("z");    // 指定滤波维度
  pass.setFilterLimits (0.0, 1.0);  //  指定滤波范围（0.0,1.0）
  pass.setNegative (true);          // false: 滤除范围外的点（默认）；true:  滤除范围内的点
  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);
}
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CMakeLists.txt

cmake_minimum_required(VERSION 3.5 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})
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编译并运行：

./passthrough
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（1）沿着x轴滤波: pass.setFilterFieldName (“x”);

Cloud before filtering: 
    0.352222 -0.151883 -0.106395
    -0.397406 -0.473106 0.292602
    -0.731898 0.667105 0.441304
    -0.734766 0.854581 -0.0361733
    -0.4607 -0.277468 -0.916762
Cloud after filtering: 
    0.352222 -0.151883 -0.106395
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（2）沿着y轴滤波: pass.setFilterFieldName (“y”);

Cloud before filtering: 
    0.352222 -0.151883 -0.106395
    -0.397406 -0.473106 0.292602
    -0.731898 0.667105 0.441304
    -0.734766 0.854581 -0.0361733
    -0.4607 -0.277468 -0.916762
Cloud after filtering: 
    -0.731898 0.667105 0.441304
    -0.734766 0.854581 -0.0361733

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（3）沿着z轴滤波: pass.setFilterFieldName (“z”);

Cloud before filtering: 
    0.352222 -0.151883 -0.106395
    -0.397406 -0.473106 0.292602
    -0.731898 0.667105 0.441304
    -0.734766 0.854581 -0.0361733
    -0.4607 -0.277468 -0.916762
Cloud after filtering: 
    -0.397406 -0.473106 0.292602
    -0.731898 0.667105 0.441304
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（4）滤除范围内的点: pass.setFilterFieldName (“z”); pass.setNegative (true);

Cloud before filtering: 
    0.352222 -0.151883 -0.106395
    -0.397406 -0.473106 0.292602
    -0.731898 0.667105 0.441304
    -0.734766 0.854581 -0.0361733
    -0.4607 -0.277468 -0.916762
Cloud after filtering: 
    0.352222 -0.151883 -0.106395
    -0.734766 0.854581 -0.0361733
    -0.4607 -0.277468 -0.916762

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