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<li><a class="reference internal" href="#">Filtering a PointCloud using a PassThrough filter</a></li>
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<li><a class="reference internal" href="#the-code">The code</a></li>
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<li><a class="reference internal" href="#the-explanation">The explanation</a></li>
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<div class="section" id="filtering-a-pointcloud-using-a-passthrough-filter">
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<span id="passthrough"></span><h1>Filtering a PointCloud using a PassThrough filter</h1>
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<p>In this tutorial we will learn how to perform a simple filtering along a
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specified dimension – that is, cut off values that are either inside or
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outside a given user range.</p>
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</div>
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<div class="section" id="the-code">
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<h1>The code</h1>
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<p>First, create a file, let’s say, <code class="docutils literal notranslate"><span class="pre">passthrough.cpp</span></code> in your favorite
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editor, and place the following inside it:</p>
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<div class="highlight-cpp notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
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44</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf"><iostream></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/point_types.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/filters/passthrough.h></span><span class="cp"></span>
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<span class="kt">int</span>
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<span class="nf">main</span> <span class="p">()</span>
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<span class="p">{</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span><span class="p">);</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud_filtered</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span><span class="p">);</span>
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<span class="c1">// Fill in the cloud data</span>
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<span class="n">cloud</span><span class="o">-></span><span class="n">width</span> <span class="o">=</span> <span class="mi">5</span><span class="p">;</span>
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<span class="n">cloud</span><span class="o">-></span><span class="n">height</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span>
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<span class="n">cloud</span><span class="o">-></span><span class="n">points</span><span class="p">.</span><span class="n">resize</span> <span class="p">(</span><span class="n">cloud</span><span class="o">-></span><span class="n">width</span> <span class="o">*</span> <span class="n">cloud</span><span class="o">-></span><span class="n">height</span><span class="p">);</span>
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<span class="k">for</span> <span class="p">(</span><span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
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<span class="p">{</span>
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<span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
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<span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
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<span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
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<span class="p">}</span>
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<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"Cloud before filtering: "</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
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<span class="k">for</span> <span class="p">(</span><span class="k">const</span> <span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
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<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o"><<</span> <span class="s">" "</span>
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<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o"><<</span> <span class="s">" "</span>
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<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
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<span class="c1">// Create the filtering object</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PassThrough</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="n">pass</span><span class="p">;</span>
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<span class="n">pass</span><span class="p">.</span><span class="n">setInputCloud</span> <span class="p">(</span><span class="n">cloud</span><span class="p">);</span>
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<span class="n">pass</span><span class="p">.</span><span class="n">setFilterFieldName</span> <span class="p">(</span><span class="s">"z"</span><span class="p">);</span>
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<span class="n">pass</span><span class="p">.</span><span class="n">setFilterLimits</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">);</span>
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<span class="c1">//pass.setFilterLimitsNegative (true);</span>
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<span class="n">pass</span><span class="p">.</span><span class="n">filter</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_filtered</span><span class="p">);</span>
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||
|
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<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"Cloud after filtering: "</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
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<span class="k">for</span> <span class="p">(</span><span class="k">const</span> <span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud_filtered</span><span class="p">)</span>
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<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o"><<</span> <span class="s">" "</span>
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<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o"><<</span> <span class="s">" "</span>
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<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
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<span class="k">return</span> <span class="p">(</span><span class="mi">0</span><span class="p">);</span>
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<span class="p">}</span>
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</pre></div>
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</td></tr></table></div>
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</div>
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<div class="section" id="the-explanation">
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<h1>The explanation</h1>
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<p>Now, let’s break down the code piece by piece.</p>
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<p>In the following lines, we define the Point Clouds structures, fill in the
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input cloud, and display its content to screen.</p>
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<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="c1">// Fill in the cloud data</span>
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<span class="n">cloud</span><span class="o">-></span><span class="n">width</span> <span class="o">=</span> <span class="mi">5</span><span class="p">;</span>
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<span class="n">cloud</span><span class="o">-></span><span class="n">height</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span>
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<span class="n">cloud</span><span class="o">-></span><span class="n">points</span><span class="p">.</span><span class="n">resize</span> <span class="p">(</span><span class="n">cloud</span><span class="o">-></span><span class="n">width</span> <span class="o">*</span> <span class="n">cloud</span><span class="o">-></span><span class="n">height</span><span class="p">);</span>
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|
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<span class="k">for</span> <span class="p">(</span><span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
|
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<span class="p">{</span>
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<span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
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||
<span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
|
||
<span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
|
||
<span class="p">}</span>
|
||
|
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<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"Cloud before filtering: "</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
<span class="k">for</span> <span class="p">(</span><span class="k">const</span> <span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>Then, we create the PassThrough filter object, and set its parameters. The
|
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filter field name is set to the z coordinate, and the accepted interval values
|
||
are set to (0.0;1.0).</p>
|
||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="n">pcl</span><span class="o">::</span><span class="n">PassThrough</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="n">pass</span><span class="p">;</span>
|
||
<span class="n">pass</span><span class="p">.</span><span class="n">setInputCloud</span> <span class="p">(</span><span class="n">cloud</span><span class="p">);</span>
|
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<span class="n">pass</span><span class="p">.</span><span class="n">setFilterFieldName</span> <span class="p">(</span><span class="s">"z"</span><span class="p">);</span>
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<span class="n">pass</span><span class="p">.</span><span class="n">setFilterLimits</span> <span class="p">(</span><span class="mf">0.0</span><span class="p">,</span> <span class="mf">1.0</span><span class="p">);</span>
|
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<span class="c1">//pass.setFilterLimitsNegative (true);</span>
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<span class="n">pass</span><span class="p">.</span><span class="n">filter</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_filtered</span><span class="p">);</span>
|
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</pre></div>
|
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</div>
|
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<p>Finally we show the content of the filtered cloud.</p>
|
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<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"Cloud after filtering: "</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
<span class="k">for</span> <span class="p">(</span><span class="k">const</span> <span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud_filtered</span><span class="p">)</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
</pre></div>
|
||
</div>
|
||
</div>
|
||
<div class="section" id="compiling-and-running-the-program">
|
||
<h1>Compiling and running the program</h1>
|
||
<p>Add the following lines to your CMakeLists.txt file:</p>
|
||
<div class="highlight-cmake notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
|
||
2
|
||
3
|
||
4
|
||
5
|
||
6
|
||
7
|
||
8
|
||
9
|
||
10
|
||
11
|
||
12</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="nb">cmake_minimum_required</span><span class="p">(</span><span class="s">VERSION</span> <span class="s">3.5</span> <span class="s">FATAL_ERROR</span><span class="p">)</span>
|
||
|
||
<span class="nb">project</span><span class="p">(</span><span class="s">passthrough</span><span class="p">)</span>
|
||
|
||
<span class="nb">find_package</span><span class="p">(</span><span class="s">PCL</span> <span class="s">1.2</span> <span class="s">REQUIRED</span><span class="p">)</span>
|
||
|
||
<span class="nb">include_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_INCLUDE_DIRS</span><span class="o">}</span><span class="p">)</span>
|
||
<span class="nb">link_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_LIBRARY_DIRS</span><span class="o">}</span><span class="p">)</span>
|
||
<span class="nb">add_definitions</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_DEFINITIONS</span><span class="o">}</span><span class="p">)</span>
|
||
|
||
<span class="nb">add_executable</span> <span class="p">(</span><span class="s">passthrough</span> <span class="s">passthrough.cpp</span><span class="p">)</span>
|
||
<span class="nb">target_link_libraries</span> <span class="p">(</span><span class="s">passthrough</span> <span class="o">${</span><span class="nv">PCL_LIBRARIES</span><span class="o">}</span><span class="p">)</span>
|
||
</pre></div>
|
||
</td></tr></table></div>
|
||
<p>After you have made the executable, you can run it. Simply do:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>$ ./passthrough
|
||
</pre></div>
|
||
</div>
|
||
<p>You will see something similar to:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">Cloud</span> <span class="n">before</span> <span class="n">filtering</span><span class="p">:</span>
|
||
<span class="mf">0.352222</span> <span class="o">-</span><span class="mf">0.151883</span> <span class="o">-</span><span class="mf">0.106395</span>
|
||
<span class="o">-</span><span class="mf">0.397406</span> <span class="o">-</span><span class="mf">0.473106</span> <span class="mf">0.292602</span>
|
||
<span class="o">-</span><span class="mf">0.731898</span> <span class="mf">0.667105</span> <span class="mf">0.441304</span>
|
||
<span class="o">-</span><span class="mf">0.734766</span> <span class="mf">0.854581</span> <span class="o">-</span><span class="mf">0.0361733</span>
|
||
<span class="o">-</span><span class="mf">0.4607</span> <span class="o">-</span><span class="mf">0.277468</span> <span class="o">-</span><span class="mf">0.916762</span>
|
||
<span class="n">Cloud</span> <span class="n">after</span> <span class="n">filtering</span><span class="p">:</span>
|
||
<span class="o">-</span><span class="mf">0.397406</span> <span class="o">-</span><span class="mf">0.473106</span> <span class="mf">0.292602</span>
|
||
<span class="o">-</span><span class="mf">0.731898</span> <span class="mf">0.667105</span> <span class="mf">0.441304</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>A graphical display of the filtering process is shown below.</p>
|
||
<img alt="_images/passthrough_2.png" src="_images/passthrough_2.png" />
|
||
<p>Note that the coordinate axes are represented as red (x), green (y), and blue
|
||
(z). The five points are represented with green as the points remaining after
|
||
filtering and red as the points that have been removed by the filter.</p>
|
||
<p>As an exercise, try uncommenting this line</p>
|
||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="c1">//pass.setFilterLimitsNegative (true);</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>and run the program again.</p>
|
||
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