【无标题】PCL点云处理之去除同名点、去重影

PCL去除同名点，去除重影点

void removeSamePoint(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_out, double radius)
{
    //---------------------KD树半径搜索-------------------
    pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
    kdtree.setInputCloud(cloud_in);
    std::vector<int> pointIdxRadiusSearch;
    std::vector<float> pointRadiusSquaredDistance;
    std::vector<int> total_index;

    for (size_t i = 0; i < cloud_in->size(); ++i)
    {
        pcl::PointXYZ searchPoint = cloud_in->points[i];
        if (kdtree.radiusSearch(searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance) > 0)
       {
          if (pointIdxRadiusSearch.size() != 1)
          {
              for (size_t j = 1; j < pointIdxRadiusSearch.size(); j++)
              {
                  total_index.push_back(pointIdxRadiusSearch[j]);
              }
          }
        }
    }
    //-----------------------删除重复索引-----------------------
    sort(total_index.begin(), total_index.end());//将索引进行排序
    total_index.erase(unique(total_index.begin(), total_index.end()), total_index.end());//将索引中的重复索引去除

    //-------------------根据索引删除重复的点-------------------
    pcl::PointIndices::Ptr outliners(new pcl::PointIndices());
    outliners->indices.resize(total_index.size());
    for (size_t i = 0; i < total_index.size(); i++)
    {
        outliners->indices[i] = total_index[i];
    }

    pcl::ExtractIndices<pcl::PointXYZ> extract;
    extract.setInputCloud(cloud_in);
    extract.setIndices(outliners);
    extract.setNegative(true);//设置为true则表示保存索引之外的点
    extract.filter(*cloud_out);
    std::cout << "cloud_in:" << cloud_in->points.size() << std::endl;
    std::cout << "total_index:" << total_index.size() << std::endl;
    std::cout << "cloud_out:" << cloud_out->points.size() << std::endl;
}

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