PCL直通滤波器PassThrough点云滤波

待我称王封你为后i 2023-02-28 04:13 4阅读 0赞

# PassThrough #

PassThrough是直通滤波器，意思是可以设定一个频带，可以选择保留频带内的或者舍弃频带内的

# 代码 #

#include <iostream>
    #include <pcl/visualization/cloud_viewer.h>
    #include <pcl/io/io.h>
    #include <pcl/io/pcd_io.h>
    #include <pcl/point_types.h>
    #include <pcl/kdtree/kdtree_flann.h>
    #include <pcl/octree/octree.h>
    #include <boost/thread/thread.hpp>
    #include <pcl/common/common_headers.h>
    #include <pcl/features/normal_3d.h>
    #include <pcl/console/parse.h>
    #include <pcl/filters/passthrough.h>
    #include <vector>
    #include <ctime>
    
    using namespace std;
    
    int main()
    {
        //可视化
        pcl::visualization::CloudViewer viewer("Cloud Viewer");
        //过滤前点云
        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
        //过滤后点云
        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>());
    
        //点云读入
        if (pcl::io::loadPCDFile<pcl::PointXYZ> ("rabbit_gra.pcd", *cloud) == -1){
                PCL_ERROR("couldn't read file");
                return 0;
        }
    
        cerr<<"cloud before filtering"<<endl;
        cerr<<cloud->points.size()<<endl;
        cerr<<cloud->height<<"  "<<cloud->width<<endl;
        for(size_t i = 0;i<5;i++)
            cerr<<"  "<<cloud->points[i].x<<"  "<<cloud->points[i].y<<"  "<<cloud->points[i].z<<endl;
    
        //直通滤波器
        pcl::PassThrough<pcl::PointXYZ>pass;
        pass.setInputCloud(cloud);    //输入点云
        pass.setFilterFieldName("z");    //沿z轴过滤
        pass.setFilterLimits(0.0,1.0);    //选取0-1之间
    //    pass.setFilterLimitsNegative(true);    //可选择0-1之间数据保留还是舍弃
        pass.filter(*cloud_filtered);    //过滤
    
    
    
        cerr<<"cloud after filtering"<<endl;
        cerr<<cloud_filtered->points.size()<<endl;
        for(size_t i = 0;i<5;i++)
            cerr<<"  "<<cloud_filtered->points[i].x<<"  "<<cloud_filtered->points[i].y<<"  "<<cloud_filtered->points[i].z<<endl;
    
    
        viewer.showCloud(cloud_filtered);
        while(!viewer.wasStopped());
        return 0;
    
    }

## 原图 ##

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70][]

## 选择保留 ##

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70 1][]

## 选择舍弃 ##

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70 2][]

## 提醒 ##

终端中输出的数据过多会使可视化工具闪退，所以建议不建议在终端输出大量数据

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[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70 1]: /images/20230209/602d044f22a742e98c163ceb1847cd42.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70 2]: /images/20230209/0f111c368dac4ab6a969eaa93385e1f7.png