使用直通滤波器进行点云的滤波

#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>);

    //生成并填充点云
    cloud->width=10;
    cloud->height=1;
    cloud->resize(cloud->width*cloud->height);

    for (size_t i = 0; i < cloud->size(); ++i) {
        cloud->points[i].x=1024*rand()/(RAND_MAX+1.0f);
        cloud->points[i].y=1024*rand()/(RAND_MAX+1.0f);
        cloud->points[i].z=1024*rand()/(RAND_MAX+1.0f);
    }
    std::cout<<"cloud point before filtering"<<std::endl;
    for (size_t i = 0; i < cloud->size(); ++i)
        std::cout<<" "<<cloud->points[i].x
                <<" "<<cloud->points[i].y
                <<" "<<cloud->points[i].z
                <<std::endl;
    /****************************************************************************************
     创建直通滤波器对象，设定参数，滤波字段设置为z轴方向，可接受的范围为(0.0,1.0)即将点云中所有点的z轴坐标不在
     该范围内的点过滤掉或保存，这里是过滤掉。如果要保存范围外的点，删除范围内的点，则使用setFilterLimitsNegative
     设定，为true时，为删除，为false时，为保留，默认为false
     *****************************************************************************************/
    pcl::PassThrough<pcl::PointXYZ> pass;
    pass.setInputCloud(cloud);
    pass.setFilterFieldName("z");
    pass.setFilterLimits(0.0,1.0);
    pass.setFilterLimitsNegative(false);
    pass.filter(*cloud_filtered);

    std::cout<<"cloud point after filtering"<<std::endl;
    for (size_t i = 0; i < cloud_filtered->size(); ++i)
        std::cout<<" "<<cloud_filtered->points[i].x
                 <<" "<<cloud_filtered->points[i].y
                 <<" "<<cloud_filtered->points[i].z
                 <<std::endl;
    return 0;
}