PCL 之離羣點去除

基於半徑（規定圓內和鄰居個數限制）和條件（濾波域和值範圍）實行離羣點去除 

#include "stdafx.h"


//int _tmain(int argc, _TCHAR* argv[])
//{
//	return 0;
//}
#include<iostream>
#include<pcl/io/pcd_io.h>
#include<pcl/io/ply_io.h>
#include<pcl/filters/radius_outlier_removal.h>
#include<pcl/filters/conditional_removal.h>

using namespace std;
int main(int argc, char** argv){
	if (argc != 2){
		cerr << "please specify commond line arg -r or -c" << endl;
		exit(0);
	}
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>), filtered_cloud(new pcl::PointCloud<pcl::PointXYZ>);

	//讀入數據
	pcl::PCDReader pcdr;
	pcdr.read("table_scene_lms400.pcd", *cloud);
	 //Fill in the cloud data
	/*cloud->width = 10;
	cloud->height = 1;
	cloud->points.resize(cloud->width * cloud->height);

	for (size_t i = 0; i < cloud->points.size(); ++i)
	{
		cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
	}
*/
	if (strcmp(argv[1], "-r") == 0){
		//基於半徑的離羣點剔除
		pcl::RadiusOutlierRemoval<pcl::PointXYZ>  rout;
		rout.setInputCloud(cloud);
		rout.setRadiusSearch(0.01);//設置搜索半徑的值
		rout.setMinNeighborsInRadius(15);//設置最小鄰居個數，默認是1
		rout.filter(*filtered_cloud);
	}
	else if (strcmp(argv[1],"-c")==0)
	{
		//條件濾波器去除離羣點
		pcl::ConditionAnd<pcl::PointXYZ>::Ptr range_c(new pcl::ConditionAnd<pcl::PointXYZ>());//初始化條件濾波對象
		range_c->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(new pcl::FieldComparison<pcl::PointXYZ>("z", pcl::ComparisonOps::GT, 0.0)));//設定濾波條件z軸 GT表示greater than  LT表示less than
		range_c->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(new pcl::FieldComparison<pcl::PointXYZ>("z", pcl::ComparisonOps::LT, 0.8)));
		pcl::ConditionalRemoval<pcl::PointXYZ> condrem;
		condrem.setCondition(range_c);
		condrem.setInputCloud(cloud);
		condrem.setKeepOrganized(true);//保持點雲數據的結構
		condrem.filter(*filtered_cloud);
	}
	else{
		cerr << "please specify commond line arg -r or -c" << endl;
		exit(0);
	}
	cerr << "the size of cloud before filtering "<<argv[1]<<" : " << cloud->points.size() << endl;
	cerr << "the size of cloud after filtering " << argv[1] << " : " << filtered_cloud->points.size() << endl;
	pcl::PLYWriter plyw;
	plyw.write("origin_table.ply", *cloud);
	plyw.write("r_filtered_cloud.ply", *filtered_cloud); //根據方法的不同修改文件名
	return 0;
}