PCL系列笔记——(滤波)Filter

直通滤波(PassThrough filter)

  这个滤波很直接，就是按照我们的设置的要求直接进行滤波，例如我们可以通过直通滤波直接得到z分量在(0-500)的点云。

  code

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

int main()
{	
	  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, 500);
	  //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);
	}

  结果

体素滤波（VoxelGrid filter）

  体素滤波可以用于实现降采样，可以减小点云数据规模，加快点云处理速度。体素可以看作是3D空间的像素，是空间中的一个一个均匀划分的小方块，具体可自行区查找。
  code

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

int main()
{
	  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);
	}

  结果

离群点滤波器（StatisticalOutlierRemoval filter）

  可以去除离群点，其原理是计算每个点与其周围点的平均距离，该距离应该服从高斯分布，通过均值与标准差来确定野点并去除。（其实也就是去除那些看起来孤立的点，这些点一般就是野点）
  code

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

int main()
{
	  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);
	  //选取的临近点的个数为50
	  sor.setMeanK(50);
	  //标准差的一倍作为阈值，即去除在(u-e,u+e)的点
	  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);
	 }

  结果

  去除前后的点云分别如下所示：