官方文档:https://pcl-tutorials.readthedocs.io/en/latest/remove_outliers.html#remove-outliers
半径滤波:
用户指定邻居的个数,要每个点必须在指定半径内具有指定个邻居才能保留在PointCloud中。例如,如果指定了1个邻居,则只会从PointCloud中删除半径范围内一个邻近都没有的点。如果指定了2个邻居,则从PointCloud中删除半径范围内邻居个数小于2个的点。
代码实现:
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/conditional_removal.h>
#include <pcl/visualization/pcl_visualizer.h>
using namespace std;
typedef pcl::PointXYZ PointType;
/**
*
*/
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 = 100;
cloud->height = 1;
cloud->points.resize(cloud->width * cloud->height);
for (size_t i = 0; i < cloud->points.size(); ++i) {
// -1.0 -> 1.0
cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
}
if (strcmp(argv[1], "-r") == 0) {
// 通过半径滤波执行, 如果一个点在指定半径内,有指定个数的邻居,则保留
pcl::RadiusOutlierRemoval<PointType> outlierRemoval;
outlierRemoval.setInputCloud(cloud);
// 设置搜索半径
outlierRemoval.setRadiusSearch(0.4);
// 邻居个数
outlierRemoval.setMinNeighborsInRadius(2);
outlierRemoval.filter(*cloud_filtered);
} else if ((strcmp(argv[1], "-c") == 0)) {
// 条件滤波
// 创建条件对象 0.0 < z <= 0.8 || x > 0
pcl::ConditionAnd<PointType>::Ptr range_cond(new pcl::ConditionAnd<PointType>);
// 添加比较对象 z > 0.0
range_cond->addComparison(pcl::FieldComparison<PointType>::ConstPtr(new pcl::FieldComparison<PointType>(
"z", pcl::ComparisonOps::GT, 0.0)));
// 添加比较对象 z <= 0.8
range_cond->addComparison(pcl::FieldComparison<PointType>::ConstPtr(new pcl::FieldComparison<PointType>(
"z", pcl::ComparisonOps::LE, 0.8)));
pcl::ConditionalRemoval<PointType> condRem;
condRem.setInputCloud(cloud);
// 设置过滤条件
condRem.setCondition(range_cond);
// false默认值:将条件之外的点移除掉
// true:将条件之外的点还保留,但是设置NAN, 或者setUserFilterValue修改
condRem.setKeepOrganized(false);
condRem.filter(*cloud_filtered);
} else {
std::cerr << "请添加正确的参数: -r 半径滤波, -c 条件滤波" << std::endl;
exit(-1);
}
std::cerr << "Cloud before filtering: " << cloud->points.size() << 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;
// display pointcloud after filtering
std::cerr << "Cloud after filtering: " << cloud_filtered->points.size() << 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;
pcl::visualization::PCLVisualizer viewer("3d_viewer");
pcl::visualization::PointCloudColorHandlerCustom<PointType> cloud_color(cloud, 0, 255, 0);
viewer.addPointCloud(cloud, cloud_color, "cloud");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "cloud");
pcl::visualization::PointCloudColorHandlerCustom<PointType> cloud_filtered_color(cloud, 255, 0, 0);
viewer.addPointCloud(cloud_filtered, cloud_filtered_color, "cloud_filtered");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 4, "cloud_filtered");
viewer.addCoordinateSystem(1.0);
while (!viewer.wasStopped()) {
viewer.spinOnce();
}
}