点云pcl窗户提取代码

以下是一个简单的基于PCL库的点云窗户提取示例代码：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/passthrough.h>

int main(int argc, char** argv)
{
    // Load input point cloud from file
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::io::loadPCDFile<pcl::PointXYZ>("input_cloud.pcd", *cloud);

    // Define window parameters
    float min_x = -1.0, max_x = 1.0;
    float min_y = -1.0, max_y = 1.0;
    float min_z = 0.0, max_z = 2.0;

    // Filter point cloud using window parameters
    pcl::PointCloud<pcl::PointXYZ>::Ptr filtered_cloud(new pcl::PointCloud<pcl::PointXYZ>);

    pcl::PassThrough<pcl::PointXYZ> pass_filter;
    pass_filter.setInputCloud(cloud);
    pass_filter.setFilterFieldName("x");
    pass_filter.setFilterLimits(min_x, max_x);
    pass_filter.filter(*filtered_cloud);

    pass_filter.setInputCloud(filtered_cloud);
    pass_filter.setFilterFieldName("y");
    pass_filter.setFilterLimits(min_y, max_y);
    pass_filter.filter(*filtered_cloud);

    pass_filter.setInputCloud(filtered_cloud);
    pass_filter.setFilterFieldName("z");
    pass_filter.setFilterLimits(min_z, max_z);
    pass_filter.filter(*filtered_cloud);

    // Save output point cloud to file
    pcl::io::savePCDFile<pcl::PointXYZ>("output_cloud.pcd", *filtered_cloud);

    return 0;
}

该代码首先加载了一个点云数据，然后定义了一个窗口的参数，最后使用PCL库的PassThrough滤波器对点云进行了过滤。过滤器根据窗口参数，将点云中不在窗口内的点过滤掉，最终输出一个过滤后的点云数据。