直通滤波....

// 点云滤波模块#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
#include <pcl/filters/passthrough.h>// 点云显示
boost::shared_ptr<pcl::visualization::PCLVisualizer> simpleVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud) {// --------------------------------------------// -----Open 3D viewer and add point cloud-----// --------------------------------------------boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer ("3D viewer"));viewer->setBackgroundColor(0, 0, 0);viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_FONT_SIZE, 3, "sample");viewer->initCameraParameters();return (viewer);}
int main() {// step1: 读取点云数据std::string path = "E:\\c++Code\\pcl\\ConsoleApplication1\\data\\filters\\table_scene_lms400.pcd";pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);  // boost 共享指针并进行实例化pcl::PointCloud<pcl::PointXYZ>::Ptr final(new pcl::PointCloud<pcl::PointXYZ>);if (pcl::io::loadPCDFile<pcl::PointXYZ>(path, *cloud)  == -1) {PCL_ERROR("Couldn't read file test_pcd.pcd \n");return (-1);}// 设置滤波器pcl::PassThrough<pcl::PointXYZ> pass;pass.setInputCloud(cloud);       //设置输入点云pass.setFilterFieldName("z");    //设置过滤时所需要点云类型的Z字段pass.setFilterLimits(-1.5, -1.3);pass.filter(*final);// 创建可视化对象并加入原始点云或者所有的局内点boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer1;boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer2;viewer1 = simpleVis(cloud);viewer2 = simpleVis(final);while (!viewer1->wasStopped()){viewer1->spinOnce(100);boost::this_thread::sleep(boost::posix_time::microseconds(100000));}while (!viewer2->wasStopped()){viewer2->spinOnce(100);boost::this_thread::sleep(boost::posix_time::microseconds(100000));}
}