【PCL】（十二）使用ConditionalRemoval或RadiusOutlierRemoval滤波器对点云进行滤波

（十二）使用ConditionalRemoval 或 RadiusOutlierRemoval滤波器对点云进行滤波

RadiusOutlierRemove滤波器删除PointCloud中在指定半径的邻域范内，邻点没能达到指定数量的点。下图中，如果指定了邻点数为1，则黄色点将从PointCloud中删除。如果指定了邻点数为2，则黄色和绿色点都将从PointCloud中删除。

ConditionalRemove滤波器从PointCloud中删除所有不满足用户指定的一个或多个条件的点。

以下代码实现用RadiusOutlierRemoval或 ConditionalRemoval滤波器对点云进行滤波

radius_outlier_removal.cpp

#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::cout << "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>);

      cloud->width  = 5;
      cloud->height = 1;
      cloud->resize (cloud->width * cloud->height);

      for (auto& point: *cloud)
      {
            point.x = (float)rand() / RAND_MAX * 2 - 1; 
            point.y = (float)rand() / RAND_MAX * 2 - 1;
            point.z = (float)rand() / RAND_MAX * 2 - 1;
      }
      // 创建RadiusOutlierRemoval滤波器对象
      if (strcmp(argv[1], "-r") == 0){
            pcl::RadiusOutlierRemoval<pcl::PointXYZ> outrem;
            outrem.setInputCloud(cloud);
            outrem.setRadiusSearch(0.8);         // 邻域半径设置为0.8  
            outrem.setMinNeighborsInRadius (2);  // 一个点在指定 邻域至少要有2个邻居
            outrem.setKeepOrganized(true);
            outrem.filter (*cloud_filtered);
      }

      else if (strcmp(argv[1], "-c") == 0){
            // 条件设置为z大于0.0和z小于0.8。
            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)));
     		//  创建ConditionalRemoval对象 
            pcl::ConditionalRemoval<pcl::PointXYZ> condrem;
            condrem.setCondition (range_cond);
            condrem.setInputCloud (cloud);
            condrem.setKeepOrganized(true);
            condrem.filter (*cloud_filtered);
      }
      else{
            std::cout << "please specify command line arg '-r' or '-c'" << std::endl;
            exit(0);
      }
      std::cout << "Cloud before filtering: " << std::endl;
      for (const auto& point: *cloud)
      std::cout << "    " << point.x << " "
                              << point.y << " "
                              << point.z << std::endl;

      std::cout << "Cloud after filtering: " << std::endl;
      for (const auto& point: *cloud_filtered)
      std::cout << "    " << point.x << " "
                              << point.y << " "
                              << point.z << std::endl;
      return (0);
}

CMakeLists.txt

cmake_minimum_required(VERSION 3.5 FATAL_ERROR)

project(radius_outlier_removal)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (radius_outlier_removal radius_outlier_removal.cpp)
target_link_libraries (radius_outlier_removal ${PCL_LIBRARIES})

编译并运行：

./radius_outlier_removal -r

Cloud before filtering: 
    0.680375 -0.211234 0.566198
    0.59688 0.823295 -0.604897
    -0.329554 0.536459 -0.444451
    0.10794 -0.0452059 0.257742
    -0.270431 0.0268018 0.904459
Cloud after filtering: 
    nan nan nan
    nan nan nan
    nan nan nan
    0.10794 -0.0452059 0.257742
    nan nan nan

 ./radius_outlier_removal -c

Cloud before filtering: 
    0.680375 -0.211234 0.566198
    0.59688 0.823295 -0.604897
    -0.329554 0.536459 -0.444451
    0.10794 -0.0452059 0.257742
    -0.270431 0.0268018 0.904459
Cloud after filtering: 
    0.680375 -0.211234 0.566198
    nan nan nan
    nan nan nan
    0.10794 -0.0452059 0.257742
    nan nan nan