篇章6.2.6 使用 ConditionalRemoval 或 RadiusOurlierRemoval 移除离群点

目的：移除离群点。

方法：使用ConditionalRemoval 或 RadiusOurlierRemoval 滤波器。

作用：可以删除在输入的点云一定范围内没有达到足够多近邻的所有数据点。

两个滤波器的区别：

1、ConditionalRemoval滤波器：添加两个比较的条件建立滤波器，满足条件的数据才会保留在点云中。

2、RadiusOurlierRemoval 滤波器：两个条件：搜索半径、邻居集数的个数。如：以每个点作半径为0.8的圆，邻居集数为2，只有在指定范围内，相邻点的个数大于等于2，则该点保留，否则剔除。

代码：remove_outliers.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::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  = 5;
  cloud->height = 1;
  cloud->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);
  }

  if (strcmp(argv[1], "-r") == 0){
    pcl::RadiusOutlierRemoval<pcl::PointXYZ> outrem;
    // build the filter
    outrem.setInputCloud(cloud);
    outrem.setRadiusSearch(0.8);
    outrem.setMinNeighborsInRadius (2);
    outrem.setKeepOrganized(true);
    // apply filter
    outrem.filter (*cloud_filtered);
  }
  else if (strcmp(argv[1], "-c") == 0){
    // build the condition
    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)));
    // build the filter
    pcl::ConditionalRemoval<pcl::PointXYZ> condrem;
    condrem.setCondition (range_cond);
    condrem.setInputCloud (cloud);
    condrem.setKeepOrganized(true);
    // apply filter
    condrem.filter (*cloud_filtered);
  }
  else{
    std::cerr << "please specify command line arg '-r' or '-c'" << std::endl;
    exit(0);
  }
  std::cerr << "Cloud before filtering: " << std::endl;
  for (const auto& point: *cloud)
    std::cerr << "    " << point.x << " "
                        << point.y << " "
                        << point.z << std::endl;
  // display pointcloud after filtering
  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);
}

CMakeLists.txt：

cmake_minimum_required(VERSION 3.5 FATAL_ERROR)

project(remove_outliers)

find_package(PCL 1.2 REQUIRED)

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

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

然后：mkdir build，cd build，make，cmake ..

最后执行运行语句：

./remove_outliers -c这里的“-c”为执行ConditionalRemoval滤波器；

./remove_outliers -r这里的“-r”为执行RadiusOurlierRemoval滤波器。

结果：会显示移除前的点集和移除后的点集。移除掉的点会标nan。