PassThrough直通滤波实现

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我是靠谱客的博主热情棉花糖，这篇文章主要介绍PassThrough直通滤波实现，现在分享给大家，希望可以做个参考。

原理：对指定的某一维度进行滤波，去掉用户指定字段范围内（或外）的点。

复制代码

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void passthrough(pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud, pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud_filtered,
std::string field_name, float limit_min, float limit_max, bool limit_negative = false)
{
vector<int> index;
for (size_t i = 0; i < cloud->points.size(); ++i)
{
if (field_name == "x")
{
if (cloud->points[i].x >= limit_min && cloud->points[i].x <= limit_max)
index.push_back(i);
}
if (field_name == "y")
{
if (cloud->points[i].y >= limit_min && cloud->points[i].y <= limit_max)
index.push_back(i);
}
if (field_name == "z")
{
if (cloud->points[i].z >= limit_min && cloud->points[i].z <= limit_max)
index.push_back(i);
}
}
boost::shared_ptr<std::vector<int>> index_ptr = boost::make_shared<std::vector<int>>(index);
pcl::ExtractIndices<pcl::PointXYZ> extract;
extract.setInputCloud(cloud);
extract.setIndices(index_ptr);
extract.setNegative(limit_negative);
extract.filter(*cloud_filtered);
}