点云滤波filtering

直通滤波PassThrough filter

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

int
 main (int argc, char** argv)
{
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);

  // Fill in the cloud data
  cloud->width  = 5;
  cloud->height = 1;
  cloud->points.resize (cloud->width * cloud->height);

  for (auto& point: *cloud)
  {
    point.x = 1024 * rand () / (RAND_MAX + 1.0f);
    point.y = 1024 * rand () / (RAND_MAX + 1.0f);
    point.z = 1024 * rand () / (RAND_MAX + 1.0f);
  }

  std::cerr << "Cloud before filtering: " << std::endl;
  for (const auto& point: *cloud)
    std::cerr << "    " << point.x << " "
                        << point.y << " "
                        << point.z << std::endl;

  // Create the filtering object
  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 (const auto& point: *cloud_filtered)
    std::cerr << "    " << point.x << " "
                        << point.y << " "
                        << point.z << std::endl;

  return (0);
}

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})

体素滤波VoxelGrid filter

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

int main (int argc, char** argv)
{
  pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2 ());
  pcl::PCLPointCloud2::Ptr cloud_filtered (new pcl::PCLPointCloud2 ());

  // Fill in the cloud data
  pcl::PCDReader reader;
  // Replace the path below with the path where you saved your file
  reader.read ("table_scene_lms400.pcd", *cloud); // Remember to download the file first!

  std::cerr << "PointCloud before filtering: " << cloud->width * cloud->height 
       << " data points (" << pcl::getFieldsList (*cloud) << ")." << std::endl;

  // Create the filtering object
  pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
  sor.setInputCloud (cloud);
  sor.setLeafSize (0.01f, 0.01f, 0.01f);
  sor.filter (*cloud_filtered);

  std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height 
       << " data points (" << pcl::getFieldsList (*cloud_filtered) << ")." << std::endl;

  pcl::PCDWriter writer;
  writer.write ("table_scene_lms400_downsampled.pcd", *cloud_filtered, 
         Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), false);

  return (0);
}

StatisticalOutlierRemoval filter

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

int
main (int argc, char** argv)
{
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);

  // Fill in the cloud data
  pcl::PCDReader reader;
  // Replace the path below with the path where you saved your file
  reader.read<pcl::PointXYZ> ("table_scene_lms400.pcd", *cloud);

  std::cerr << "Cloud before filtering: " << std::endl;
  std::cerr << *cloud << std::endl;

  // Create the filtering object
  pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor;
  sor.setInputCloud (cloud);
  sor.setMeanK (50);
  sor.setStddevMulThresh (1.0);
  sor.filter (*cloud_filtered);

  std::cerr << "Cloud after filtering: " << std::endl;
  std::cerr << *cloud_filtered << std::endl;

  pcl::PCDWriter writer;
  writer.write<pcl::PointXYZ> ("table_scene_lms400_inliers.pcd", *cloud_filtered, false);

  sor.setNegative (true);
  sor.filter (*cloud_filtered);
  writer.write<pcl::PointXYZ> ("table_scene_lms400_outliers.pcd", *cloud_filtered, false);

  return (0);
}

投影

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>

int
 main (int argc, char** argv)
{
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected (new pcl::PointCloud<pcl::PointXYZ>);

  // Fill in the cloud data
  cloud->width  = 5;
  cloud->height = 1;
  cloud->points.resize (cloud->width * cloud->height);

  for (auto& point: *cloud)
  {
    point.x = 1024 * rand () / (RAND_MAX + 1.0f);
    point.y = 1024 * rand () / (RAND_MAX + 1.0f);
    point.z = 1024 * rand () / (RAND_MAX + 1.0f);
  }

  std::cerr << "Cloud before projection: " << std::endl;
  for (const auto& point: *cloud)
    std::cerr << "    " << point.x << " "
                        << point.y << " "
                        << point.z << std::endl;

  // Create a set of planar coefficients with X=Y=0,Z=1
  pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
  coefficients->values.resize (4);
  coefficients->values[0] = coefficients->values[1] = 0;
  coefficients->values[2] = 1.0;
  coefficients->values[3] = 0;

  // Create the filtering object
  pcl::ProjectInliers<pcl::PointXYZ> proj;
  proj.setModelType (pcl::SACMODEL_PLANE);
  proj.setInputCloud (cloud);
  proj.setModelCoefficients (coefficients);
  proj.filter (*cloud_projected);

  std::cerr << "Cloud after projection: " << std::endl;
  for (const auto& point: *cloud_projected)
    std::cerr << "    " << point.x << " "
                        << point.y << " "
                        << point.z << std::endl;

  return (0);
}

提取子集

#include <iostream>
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/extract_indices.h>

int
main (int argc, char** argv)
{
  pcl::PCLPointCloud2::Ptr cloud_blob (new pcl::PCLPointCloud2), cloud_filtered_blob (new pcl::PCLPointCloud2);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>), cloud_p (new pcl::PointCloud<pcl::PointXYZ>), cloud_f (new pcl::PointCloud<pcl::PointXYZ>);

  // Fill in the cloud data
  pcl::PCDReader reader;
  reader.read ("table_scene_lms400.pcd", *cloud_blob);

  std::cerr << "PointCloud before filtering: " << cloud_blob->width * cloud_blob->height << " data points." << std::endl;

  // Create the filtering object: downsample the dataset using a leaf size of 1cm
  pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
  sor.setInputCloud (cloud_blob);
  sor.setLeafSize (0.01f, 0.01f, 0.01f);
  sor.filter (*cloud_filtered_blob);

  // Convert to the templated PointCloud
  pcl::fromPCLPointCloud2 (*cloud_filtered_blob, *cloud_filtered);

  std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height << " data points." << std::endl;

  // Write the downsampled version to disk
  pcl::PCDWriter writer;
  writer.write<pcl::PointXYZ> ("table_scene_lms400_downsampled.pcd", *cloud_filtered, false);

  pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
  pcl::PointIndices::Ptr inliers (new pcl::PointIndices ());
  // Create the segmentation object
  pcl::SACSegmentation<pcl::PointXYZ> seg;
  // Optional
  seg.setOptimizeCoefficients (true);
  // Mandatory
  seg.setModelType (pcl::SACMODEL_PLANE);
  seg.setMethodType (pcl::SAC_RANSAC);
  seg.setMaxIterations (1000);
  seg.setDistanceThreshold (0.01);

  // Create the filtering object
  pcl::ExtractIndices<pcl::PointXYZ> extract;

  int i = 0, nr_points = (int) cloud_filtered->size ();
  // While 30% of the original cloud is still there
  while (cloud_filtered->size () > 0.3 * nr_points)
  {
    // Segment the largest planar component from the remaining cloud
    seg.setInputCloud (cloud_filtered);
    seg.segment (*inliers, *coefficients);
    if (inliers->indices.size () == 0)
    {
      std::cerr << "Could not estimate a planar model for the given dataset." << std::endl;
      break;
    }

    // Extract the inliers
    extract.setInputCloud (cloud_filtered);
    extract.setIndices (inliers);
    extract.setNegative (false);
    extract.filter (*cloud_p);
    std::cerr << "PointCloud representing the planar component: " << cloud_p->width * cloud_p->height << " data points." << std::endl;

    std::stringstream ss;
    ss << "table_scene_lms400_plane_" << i << ".pcd";
    writer.write<pcl::PointXYZ> (ss.str (), *cloud_p, false);

    // Create the filtering object
    extract.setNegative (true);
    extract.filter (*cloud_f);
    cloud_filtered.swap (cloud_f);
    i++;
  }

  return (0);
}

条件滤波/半径滤波

#include <iostream>
#include <pcl/point_types.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/conditional_removal.h>

int
 main (int argc, char** argv)
{
  if (argc != 2)
  {
    std::cerr << "please specify command line arg '-r' or '-c'" << std::endl;
    exit(0);
  }
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);

  // Fill in the cloud data
  cloud->width  = 5;
  cloud->height = 1;
  cloud->resize (cloud->width * cloud->height);

  for (auto& point: *cloud)
  {
    point.x = 1024 * rand () / (RAND_MAX + 1.0f);
    point.y = 1024 * rand () / (RAND_MAX + 1.0f);
    point.z = 1024 * rand () / (RAND_MAX + 1.0f);
  }

  if (strcmp(argv[1], "-r") == 0){
    pcl::RadiusOutlierRemoval<pcl::PointXYZ> outrem;
    // build the filter
    outrem.setInputCloud(cloud);
    outrem.setRadiusSearch(0.8);
    outrem.setMinNeighborsInRadius (2);
    outrem.setKeepOrganized(true);
    // apply filter
    outrem.filter (*cloud_filtered);
  }
  else if (strcmp(argv[1], "-c") == 0){
    // build the condition
    pcl::ConditionAnd<pcl::PointXYZ>::Ptr range_cond (new
      pcl::ConditionAnd<pcl::PointXYZ> ());
    range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
      pcl::FieldComparison<pcl::PointXYZ> ("z", pcl::ComparisonOps::GT, 0.0)));
    range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
      pcl::FieldComparison<pcl::PointXYZ> ("z", pcl::ComparisonOps::LT, 0.8)));
    // build the filter
    pcl::ConditionalRemoval<pcl::PointXYZ> condrem;
    condrem.setCondition (range_cond);
    condrem.setInputCloud (cloud);
    condrem.setKeepOrganized(true);
    // apply filter
    condrem.filter (*cloud_filtered);
  }
  else{
    std::cerr << "please specify command line arg '-r' or '-c'" << std::endl;
    exit(0);
  }
  std::cerr << "Cloud before filtering: " << std::endl;
  for (const auto& point: *cloud)
    std::cerr << "    " << point.x << " "
                        << point.y << " "
                        << point.z << std::endl;
  // display pointcloud after filtering
  std::cerr << "Cloud after filtering: " << std::endl;
  for (const auto& point: *cloud_filtered)
    std::cerr << "    " << point.x << " "
                        << point.y << " "
                        << point.z << std::endl;
  return (0);
}