以下列出方法均有运行成功的代码，所有工程文件我都会放在如下链接：
https://github.com/gx-sun/classic-point-cloud-denoising-methods
欢迎star
持续补充中，目前最新为2021.12月。
1.移动最小二乘MLS
基于PCL
-
#include
"stdafx.h"
-
-
-
#include
<pcl
/point_types.h
>
-
#include
<pcl
/io
/pcd_io.h
>
-
#include
<pcl
/kdtree
/kdtree_flann.h
>
-
#include
<pcl
/surface
/mls.h
>
-
int main(int argc, char
** argv)
-
{
/
/ 将一个适当类型的输入文件加载到对象PointCloud中
-
pcl
::PointCloud
<pcl
::PointXYZ
>
::Ptr cloud(new pcl
::PointCloud
<pcl
::PointXYZ
>());
-
/
/ 加载bun
0.pcd文件，加载的文件在 PCL的测试数据中是存在的
-
pcl
::io
::loadPCDFile(
"bunny_hi_noise.pcd",
*cloud);
-
/
/ 创建一个KD树
-
pcl
::
search
::KdTree
<pcl
::PointXYZ
>
::Ptr tree(new pcl
::
search
::KdTree
<pcl
::PointXYZ
>);
-
/
/ 输出文件中有PointNormal类型，用来存储移动最小二乘法算出的法线
-
pcl
::PointCloud
<pcl
::PointNormal
> mls_points;
-
/
/ 定义对象 (第二种定义类型是为了存储法线, 即使用不到也需要定义出来)
-
pcl
::MovingLeastSquares
<pcl
::PointXYZ, pcl
::PointNormal
> mls;
-
mls.setComputeNormals(
true);
-
/
/设置参数
-
mls.setInputCloud(cloud);
-
mls.setPolynomialFit(
true);
-
mls.setSearchMethod(tree);
-
mls.setSearchRadius(
0.06);
-
/
/ 曲面重建
-
mls.process(mls_points);
-
/
/ 保存结果
-
pcl
::io
::savePCDFile(
"bunny_hi_noise_mls.pcd", mls_points);
-
}
2.双边滤波
2.1基于PCL
实验编译成功了，但是因为其需要intensity分量，一般都没有，故无法运行
-
#include
"stdafx.h"
-
#include
<pcl
/point_types.h
>
-
#include
<pcl
/io
/pcd_io.h
>
-
#include
<pcl
/kdtree
/kdtree_flann.h
>
-
#include
<pcl
/filters
/bilateral.h
>
-
-
typedef pcl
::PointXYZI PointT;
-
-
int
-
main(int argc, char
*argv[])
-
{
-
std
::
string incloudfile
=
"block_noise.pcd";
-
std
::
string outcloudfile
=
"block_bf.pcd";
-
float sigma_s
=
0.1;
-
float sigma_r
=
0.2;
-
-
/
/ Load cloud
-
pcl
::PointCloud
<PointT
>
::Ptr cloud(new pcl
::PointCloud
<PointT
>);
-
pcl
::io
::loadPCDFile(incloudfile.c_str(),
*cloud);
-
-
pcl
::PointCloud
<PointT
> outcloud;
-
-
/
/
Set
up KDTree
-
/
/pcl
::KdTreeFLANN
<PointT
>
::Ptr tree(new pcl
::KdTreeFLANN
<PointT
>);
-
pcl
::
search
::KdTree
<PointT
>
::Ptr tree
1(new pcl
::
search
::KdTree
<PointT
>);
-
pcl
::BilateralFilter
<PointT
> bf;
-
bf.setInputCloud(cloud);
-
bf.setSearchMethod(tree
1);
-
bf.setHalfSize(sigma_s);
-
bf.setStdDev(sigma_r);
-
bf.filter(outcloud);
-
-
/
/ Save filtered
output
-
pcl
::io
::savePCDFile(outcloudfile.c_str(), outcloud);
-
return (
0);
-
}
2.2 基于CGAL
官方example代码，无需强度分类，只需点位置和法线信息，运行成功版本：
-
#include
<CGAL
/Simple_cartesian.h
>
-
#include
<CGAL
/
property_map.h
>
-
#include
<CGAL
/IO
/
read_xyz_points.h
>
-
#include
<CGAL
/IO
/
write_xyz_points.h
>
-
#include
<CGAL
/bilateral_smooth_point_
set.h
>
-
#include
<CGAL
/tags.h
>
-
-
#include
<utility
>
/
/ defines std
::pair
-
#include
<fstream
>
-
-
/
/ Types
-
typedef CGAL
::Simple_cartesian
<double
> Kernel;
-
typedef Kernel
::Point_
3 Point;
-
typedef Kernel
::Vector_
3 Vector;
-
-
/
/ Point
with normal vector stored
in a std
::pair.
-
typedef std
::pair
<Point, Vector
> PointVectorPair;
-
-
/
/ Concurrency
-
typedef CGAL
::Parallel_
if_available_tag Concurrency_tag;
-
-
int main(int argc, char
*argv[])
-
{
-
const char
*
input_filename
= (argc
>
1)?argv[
1]:
"data/fin90_with_PCA_normals.xyz";
-
const char
*
output_filename
= (argc
>
2)?argv[
2]:
"data/fin90_with_PCA_normals_bilateral_smoothed.xyz";
-
-
/
/ Reads a .xyz point
set
file
in points[]
*
with normals
*.
-
std
::vector
<PointVectorPair
> points;
-
std
::ifstream stream(
input_filename);
-
if (!stream ||
-
!CGAL
::
read_xyz_points(stream,
-
std
::back_inserter(points),
-
CGAL
::parameters
::point_map(CGAL
::
First_
of_pair_
property_map
<PointVectorPair
>()).
-
normal_map(CGAL
::Second_
of_pair_
property_map
<PointVectorPair
>())))
-
{
-
std
::cerr
<
<
"Error: cannot read file "
<
<
input_filename
<
< std
::endl;
-
return
EXIT_FAILURE;
-
}
-
-
/
/ Algorithm parameters
-
int k
=
120;
/
/
size
of neighborhood. The bigger the smoother the result will be.
-
/
/ This
value should bigger
than
1.
-
double sharpness_angle
=
25;
/
/
control sharpness
of the result.
-
/
/ The bigger the smoother the result will be
-
int iter_
number
=
3;
/
/
number
of
times the projection
is applied
-
-
for (int i
=
0; i
< iter_
number;
+
+i)
-
{
-
/
* double
error
=
*
/
-
CGAL
::bilateral_smooth_point_
set
<Concurrency_tag
>(
-
points,
-
k,
-
CGAL
::parameters
::point_map(CGAL
::
First_
of_pair_
property_map
<PointVectorPair
>()).
-
normal_map(CGAL
::Second_
of_pair_
property_map
<PointVectorPair
>()).
-
sharpness_angle (sharpness_angle));
-
}
-
-
Save point
set.
-
std
::ofstream out(
output_filename);
-
out.precision(
17);
-
if (!out ||
-
!CGAL
::
write_xyz_points(
-
out, points,
-
CGAL
::parameters
::point_map(CGAL
::
First_
of_pair_
property_map
<PointVectorPair
>()).
-
normal_map(CGAL
::Second_
of_pair_
property_map
<PointVectorPair
>())))
-
{
-
return
EXIT_FAILURE;
-
}
-
-
return
EXIT_SUCCESS;
-
}
-
3.LOP
4.WLOP
基于CGAL：
安装CGAL可以参考：CGAL如何配置-小白向_Meet_csdn的博客-CSDN博客_cgal 配置
安装好后的工程文件是CGAL自带的，在文件夹example/Point_set_processing_3/wlop_simplify_and_regularize_point_set_example,运行结果如下：
参考代码：CGAL 5.3 - Point Set Processing: User Manual
文章：Huang H, Li D, Zhang H, et al. Consolidation of unorganized point clouds for surface reconstruction[J]. ACM transactions on graphics (TOG), 2009, 28(5): 1-7.
5.CLOP
官方实现，原始地址。
对应文章："Reinhold Preiner, Oliver Mattausch, Murat Arikan, Renato Pajarola, Michael Wimmer
Continuous Projection for Fast L1 Reconstruction
ACM Transactions on Graphics (Proc. of ACM SIGGRAPH 2014), 33(4):47:1-47:13, August 2014."
下载下来后可以运行，速度还不错，会对点云下采样
5.EAR
官方代码，有exe版本和源码版本，exe可以双击运行。
参考地址：Edge-Aware Point Set Resampling | Visual Computing Research Center @ Shenzhen University
文章：Huang H, Wu S, Gong M, et al. Edge-aware point set resampling[J]. ACM transactions on graphics (TOG), 2013, 32(1): 1-12.
6.PCN(point-clean-net)
可以去除离群点和噪声点
地址：https://github.com/mrakotosaon/pointcleannet
7.TD(total denoising)
第一篇点云无监督去噪方法，结果偏向平滑。
地址：https://github.com/phermosilla/TotalDenoising
TotalDenoising代码复现步骤_Meet_csdn的博客-CSDN博客
8.Pointfilter
目前SOTA，效果比较好,编码解码结构，简单有效
地址：https://github.com/dongbo-BUAA-VR/Pointfilter
8190
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
