使用ConditionalRemoval或RadiusOutlierRemoval移除离群点

ConditionalRemoval与教材不同，注意！

#include <pcl/visualization/pcl_visualizer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <boost/thread/thread.hpp>
#include <pcl/point_types.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/conditional_removal.h>

int user_data;

void
viewerOneOff(pcl::visualization::PCLVisualizer& viewer)
{
viewer.setBackgroundColor(1.0, 0.5, 1.0);
pcl::PointXYZ o;
o.x = 1.0;
o.y = 0;
o.z = 0;
viewer.addSphere(o, 0.25, "sphere", 0);
std::cout << "i only run once" << std::endl;

}

void
viewerPsycho(pcl::visualization::PCLVisualizer& viewer)
{
static unsigned count = 0;
std::stringstream ss;
ss << "Once per viewer loop: " << count++;
viewer.removeShape("text", 0);
viewer.addText(ss.str(), 200, 300, "text", 0);

//FIXME: possible race condition here:
user_data++;
}

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 = 500;
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) {
pcl::RadiusOutlierRemoval<pcl::PointXYZ> outrem;
// build the filter
outrem.setInputCloud(cloud);
outrem.setRadiusSearch(100);
outrem.setMinNeighborsInRadius(2);
// 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, 200.0)));
range_cond->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(new
pcl::FieldComparison<pcl::PointXYZ>("z", pcl::ComparisonOps::LT, 500.0)));
// 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 (size_t i = 0; i < cloud->points.size(); ++i)
std::cerr << " " << cloud->points[i].x << " "
<< cloud->points[i].y << " "
<< cloud->points[i].z << std::endl;
// display pointcloud after filtering
std::cerr << "Cloud after filtering: " << std::endl;
for (size_t i = 0; i < cloud_filtered->points.size(); ++i)
std::cerr << " " << cloud_filtered->points[i].x << " "
<< cloud_filtered->points[i].y << " "
<< cloud_filtered->points[i].z << std::endl;
pcl::visualization::PCLVisualizer viewer("PCLVisualizer");
viewer.initCameraParameters();

int v1(0);
viewer.createViewPort(0.0, 0.0, 0.5, 1.0, v1);
viewer.setBackgroundColor(1.0, 0.5, 1.0, v1);
viewer.addText("Cloud before voxelgrid filtering", 10, 10, "v1 test", v1);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> cloud_color(cloud, 0, 255, 0);
viewer.addPointCloud<pcl::PointXYZ>(cloud, cloud_color, "cloud", v1);

int v2(0);
viewer.createViewPort(0.5, 0.0, 1.0, 1.0, v2);
viewer.setBackgroundColor(1.0, 0.5, 1.0, v2);
viewer.addText("Cloud after projection", 10, 10, "v2 test", v2);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> cloud_filtered_color(cloud_filtered, 0, 0, 255);
viewer.addPointCloud<pcl::PointXYZ>(cloud_filtered, cloud_filtered_color, "cloud_filtered", v2);

viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "cloud");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "cloud_filtered");

while (!viewer.wasStopped())
{
//在此处可以添加其他处理

viewer.spinOnce(100);
boost::this_thread::sleep(boost::posix_time::microseconds(100000));
}

return 0;
}