文章目录
1 原理
针对点云某一维度，去掉指定范围内（或外）的点。
2 代码实现
#include <pcl/io/pcd_io.h>
#include <pcl/filters/passthrough.h>
#include <pcl/visualization/cloud_viewer.h>
using namespace std;
int main()
{
//----------------------------------------- 加载点云 ----------------------------------------
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); //待滤波点云
if (pcl::io::loadPCDFile("desk.pcd", *cloud) < 0)
{
PCL_ERROR("点云文件不存在！\n");
system("pause");
return -1;
}
cout << "->加载点云个数：" << cloud->points.size() << endl;
//==========================================================================================
//----------------------------------------- 直通滤波 ----------------------------------------
cout << "->正在进行直通滤波..." << endl;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>); //滤波后点云
pcl::PassThrough<pcl::PointXYZ> pt; // 创建滤波器对象
pt.setInputCloud(cloud); //设置输入点云
pt.setFilterFieldName("x"); //设置滤波所需字段z
pt.setFilterLimits(-0.1, 1); //设置Z字段过滤范围
pt.setFilterLimitsNegative(true); //默认false，保留范围内的点云；true，保存范围外的点云
pt.filter(*cloud_filtered); //执行滤波，并将滤波后点云保存到cloud_filtered中
//==========================================================================================
//-------------------------------------- 可视化（可选） -------------------------------------
pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("滤波前后对比"));
/*-----原始点云-----*/
int v1(0);
viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1); //设置第一个视口在X轴、Y轴的最小值、最大值，取值在0-1之间
viewer->setBackgroundColor(0, 0, 0, v1); //设置背景颜色，0-1，默认黑色（0，0，0）
viewer->addText("befor_filtered", 10, 10, "v1_text", v1);
viewer->addPointCloud<pcl::PointXYZ>(cloud, "befor_filtered_cloud", v1);
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "befor_filtered_cloud", v1);
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 0, 0, "befor_filtered_cloud", v1);
/*-----滤波后点云-----*/
int v2(0);
viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);
viewer->setBackgroundColor(0.3, 0.3, 0.3, v2);
viewer->addText("after_filtered", 10, 10, "v2_text", v2);
viewer->addPointCloud<pcl::PointXYZ>(cloud_filtered, "after_filtered_cloud", v2);
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "after_filtered_cloud", v2);
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 0, 1, 0, "after_filtered_cloud", v2);
while (!viewer->wasStopped())
{
viewer->spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}
//==========================================================================================
return 0;
}
3 结果展示
相关链接：