PCL passfilter 使用

pass濾波器的使用 

#include "stdafx.h"


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

using namespace std;
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>);

	// Fill in the cloud data 隨機產生點雲數據 5個點
	cloud->width = 5;
	cloud->height = 1;
	cloud->points.resize(cloud->width * cloud->height);

	for (size_t i = 0; i < cloud->points.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);
	}
	//顯示濾波前的點雲 
	/*pcl::visualization::CloudViewer viewer("cloud viewer");
	viewer.showCloud(cloud);
	system("pause");*/
	pcl::visualization::PCLVisualizer viewer("passthrough viewer");
	//設置點雲顏色
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> cloud_color_handler(cloud, 255, 255, 255); //濾波前原始點雲顏色爲黑色
	viewer.addPointCloud(cloud, cloud_color_handler, "origin cloud");

	//開始濾波
	std::cerr << "Cloud before filtering: " << std::endl;
	for (size_t i = 0; i < cloud->points.size(); ++i)
		std::cerr << "    " << cloud->points[i].x << " "
		<< cloud->points[i].y << " "
		<< cloud->points[i].z << std::endl;

	// Create the filtering object
	pcl::PassThrough<pcl::PointXYZ> pass;
	pass.setInputCloud(cloud);
	pass.setFilterFieldName("z");
	pass.setFilterLimits(0.0, 500);
	//pass.setKeepOrganized(true);
	//pass.setFilterLimitsNegative (true); 
	pass.filter(*cloud_filtered);
	cout << "cloud_filtered   "<<cloud_filtered->points.size() << endl;
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>  filtered_cloud_handler(cloud_filtered, 230, 20, 20);//設置濾波後的點雲顏色爲 紅色
	viewer.addPointCloud(cloud_filtered, filtered_cloud_handler, "filtered cloud");
	viewer.setBackgroundColor(0.5, 0.5, 0.5, 0);
	viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "origin cloud");
	viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "filtered cloud");
	while (!viewer.wasStopped()){
		viewer.spinOnce();
	}
	std::cerr << "Cloud after filtering: " << std::endl;

	for (size_t i = 0; i < cloud_filtered->points.size(); ++i)
		std::cerr << "    " << cloud_filtered->points[i].x << " "
		<< cloud_filtered->points[i].y << " "
		<< cloud_filtered->points[i].z << std::endl;
	/*pcl::visualization::CloudViewer viewer1("cloud viewer");
	viewer1.showCloud(cloud_filtered);
	system("pause");*/
	return (0);
}