采用StatisticalOutlierRemovalRadiusOutlierRemoval方法,
代码如下:
#include <pcl/PCLPointCloud2.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <pcl/console/time.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/filters/extract_indices.h>
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
std::string default_method = "radius";
int default_mean_k = 2;
double default_std_dev_mul = 0.0;
int default_negative = 0;
double default_radius = 0.0;
int default_min_pts = 0;
void
printHelp (int, char **argv)
{
print_error ("Syntax is: %s input.pcd output.pcd <options>\n", argv[0]);
print_info (" where options are:\n");
print_info (" -method X = the outlier removal method to be used (options: radius / statistical) (default: ");
print_value ("%s", default_method.c_str ()); print_info (")\n");
print_info (" -radius X = (RadiusOutlierRemoval) the sphere radius used for determining the k-nearest neighbors (default: ");
print_value ("%d", default_min_pts); print_info (")\n");
print_info (" -min_pts X = (RadiusOutlierRemoval) the minimum number of neighbors that a point needs to have in the given search radius in order to be considered an inlier (default: ");
print_value ("%d", default_min_pts); print_info (")\n");
print_info (" -mean_k X = (StatisticalOutlierRemoval only) the number of points to use for mean distance estimation (default: ");
print_value ("%d", default_mean_k); print_info (")\n");
print_info (" -std_dev_mul X = (StatisticalOutlierRemoval only) the standard deviation multiplier threshold (default: ");
print_value ("%f", default_std_dev_mul); print_info (")\n\n");
print_info (" -negative X = decides whether the inliers should be returned (1), or the outliers (0). (default: ");
print_value ("%d", default_negative); print_info (")\n");
print_info (" -keep_organized = keep the filtered points in organized format.\n");
}
bool
loadCloud (const std::string &filename, pcl::PCLPointCloud2 &cloud,
Eigen::Vector4f &translation, Eigen::Quaternionf &orientation)
{
TicToc tt;
print_highlight ("Loading "); print_value ("%s ", filename.c_str ());
tt.tic ();
if (loadPCDFile (filename, cloud, translation, orientation) < 0)
return (false);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
print_info ("Available dimensions: "); print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());
return (true);
}
void
compute (const pcl::PCLPointCloud2::ConstPtr &input, pcl::PCLPointCloud2 &output,
std::string method,
int min_pts, double radius,
int mean_k, double std_dev_mul, bool negative, bool keep_organized)
{
PointCloud<PointXYZ>::Ptr xyz_cloud_pre (new pcl::PointCloud<PointXYZ> ()),
xyz_cloud (new pcl::PointCloud<PointXYZ> ());
fromPCLPointCloud2 (*input, *xyz_cloud_pre);
pcl::PointIndices::Ptr removed_indices (new PointIndices),
indices (new PointIndices);
std::vector<int> valid_indices;
if (keep_organized)
{
xyz_cloud = xyz_cloud_pre;
for (int i = 0; i < int (xyz_cloud->size ()); ++i)
valid_indices.push_back (i);
}
else
removeNaNFromPointCloud<PointXYZ> (*xyz_cloud_pre, *xyz_cloud, valid_indices);
TicToc tt;
tt.tic ();
PointCloud<PointXYZ>::Ptr xyz_cloud_filtered (new PointCloud<PointXYZ> ());
if (method == "statistical")
{
StatisticalOutlierRemoval<PointXYZ> filter (true);
filter.setInputCloud (xyz_cloud);
filter.setMeanK (mean_k);
filter.setStddevMulThresh (std_dev_mul);
filter.setNegative (negative);
filter.setKeepOrganized (keep_organized);
PCL_INFO ("Computing filtered cloud from %lu points with mean_k %d, std_dev_mul %f, inliers %d ...", xyz_cloud->size (), filter.getMeanK (), filter.getStddevMulThresh (), filter.getNegative ());
filter.filter (*xyz_cloud_filtered);
// Get the indices that have been explicitly removed
filter.getRemovedIndices (*removed_indices);
}
else if (method == "radius")
{
RadiusOutlierRemoval<PointXYZ> filter (true);
filter.setInputCloud (xyz_cloud);
filter.setRadiusSearch (radius);
filter.setMinNeighborsInRadius (min_pts);
filter.setNegative (negative);
filter.setKeepOrganized (keep_organized);
PCL_INFO ("Computing filtered cloud from %lu points with radius %f, min_pts %d ...", xyz_cloud->size (), radius, min_pts);
filter.filter (*xyz_cloud_filtered);
// Get the indices that have been explicitly removed
filter.getRemovedIndices (*removed_indices);
}
else
{
PCL_ERROR ("%s is not a valid filter name! Quitting!\n", method.c_str ());
return;
}
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", xyz_cloud_filtered->width * xyz_cloud_filtered->height); print_info (" points, %lu indices removed]\n", removed_indices->indices.size ());
if (keep_organized)
{
pcl::PCLPointCloud2 output_filtered;
toPCLPointCloud2 (*xyz_cloud_filtered, output_filtered);
concatenateFields (*input, output_filtered, output);
}
else
{
// Make sure we are addressing values in the original index vector
for (size_t i = 0; i < removed_indices->indices.size (); ++i)
indices->indices.push_back (valid_indices[removed_indices->indices[i]]);
// Extract the indices of the remaining points
pcl::ExtractIndices<pcl::PCLPointCloud2> ei;
ei.setInputCloud (input);
ei.setIndices (indices);
ei.setNegative (true);
ei.filter (output);
}
}
void
saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &output,
const Eigen::Vector4f &translation, const Eigen::Quaternionf &rotation)
{
TicToc tt;
tt.tic ();
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
PCDWriter w;
w.writeBinaryCompressed (filename, output, translation, rotation);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", output.width * output.height); print_info (" points]\n");
}
/* ---[ */
int
main (int argc, char** argv)
{
print_info ("Statistical Outlier Removal filtering of a point cloud. For more information, use: %s -h\n", argv[0]);
if (argc < 3)
{
printHelp (argc, argv);
return (-1);
}
// Parse the command line arguments for .pcd files
std::vector<int> p_file_indices;
p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
if (p_file_indices.size () != 2)
{
print_error ("Need one input PCD file and one output PCD file to continue.\n");
return (-1);
}
// Command line parsing
std::string method = default_method;
int min_pts = default_min_pts;
double radius = default_radius;
int mean_k = default_mean_k;
double std_dev_mul = default_std_dev_mul;
int negative = default_negative;
parse_argument (argc, argv, "-method", method);
parse_argument (argc, argv, "-radius", radius);
parse_argument (argc, argv, "-min_pts", min_pts);
parse_argument (argc, argv, "-mean_k", mean_k);
parse_argument (argc, argv, "-std_dev_mul", std_dev_mul);
parse_argument (argc, argv, "-negative", negative);
bool keep_organized = find_switch (argc, argv, "-keep_organized");
// Load the first file
Eigen::Vector4f translation;
Eigen::Quaternionf rotation;
pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2);
if (!loadCloud (argv[p_file_indices[0]], *cloud, translation, rotation))
return (-1);
if (keep_organized && cloud->height == 1)
{
print_error ("Point cloud dataset (%s) is not organized (height = %d), but -keep_organized requested!\n", argv[p_file_indices[0]], cloud->height);
return (-1);
}
// Do the smoothing
pcl::PCLPointCloud2 output;
compute (cloud, output, method, min_pts, radius, mean_k, std_dev_mul, negative, keep_organized);
// Save into the second file
saveCloud (argv[p_file_indices[1]], output, translation, rotation);
}
来源:PCL官方示例