upload sixth chapter

Signed-off-by: Hao Guo <[email protected]>

第六章/1 passthrough/source/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+project(passthrough)
+find_package(PCL 1.2 REQUIRED)
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS}) 
+add_executable (passthrough passthrough.cpp)
+target_link_libraries (passthrough ${PCL_LIBRARIES})
+
+
+

第六章/1 passthrough/source/passthrough.cpp

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+#include <iostream>
+#include <ctime>
+#include <pcl/point_types.h>
+#include <pcl/filters/passthrough.h>
+int
+ main (int argc, char** argv)
+{ srand(time(0));
+ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
+ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);
+ //填入点云数据
+ 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 = rand () / (RAND_MAX + 1.0f)-0.5;
+ cloud->points[i].y = rand () / (RAND_MAX + 1.0f)-0.5;
+ cloud->points[i].z = rand () / (RAND_MAX + 1.0f)-0.5;
+ }
+ 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;
+ // 创建滤波器对象
+ pcl::PassThrough<pcl::PointXYZ> pass;
+ pass.setInputCloud (cloud);
+ pass.setFilterFieldName ("z");
+ pass.setFilterLimits (0.0, 1.0);
+ //pass.setFilterLimitsNegative (true);
+ pass.filter (*cloud_filtered);
+
+ 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;
+ return (0);
+}

第六章/2 voxel_grid/source/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+project(voxel_grid)
+find_package(PCL 1.2 REQUIRED)
+include_directories(${PCL_INCLUDE_DIRS})
+link_directories(${PCL_LIBRARY_DIRS})
+add_definitions(${PCL_DEFINITIONS})
+add_executable (voxel_grid voxel_grid.cpp)
+target_link_libraries (voxel_grid ${PCL_LIBRARIES})