#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) //確保輸入的參數
{
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>);
//填充點雲
cloud->width = 5;
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; //創建濾波器
outrem.setInputCloud(cloud); //設置輸入點雲
outrem.setRadiusSearch(0.8); //設置半徑爲0.8的範圍內找臨近點
outrem.setMinNeighborsInRadius (2); //設置查詢點的鄰域點集數小於2的刪除
// apply filter
outrem.filter (*cloud_filtered); //執行條件濾波 在半徑爲0.8 在此半徑內必須要有兩個鄰居點,此點纔會保存
}
else if (strcmp(argv[1], "-c") == 0){
//創建條件限定的下的濾波器
pcl::ConditionAnd<pcl::PointXYZ>::Ptr range_cond (new
pcl::ConditionAnd<pcl::PointXYZ> ()); //創建條件定義對象
//爲條件定義對象添加比較算子
range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
pcl::FieldComparison<pcl::PointXYZ> ("z", pcl::ComparisonOps::GT, 0.0))); //添加在Z字段上大於0的比較算子
range_cond->addComparison (pcl::FieldComparison<pcl::PointXYZ>::ConstPtr (new
pcl::FieldComparison<pcl::PointXYZ> ("z", pcl::ComparisonOps::LT, 0.8))); //添加在Z字段上小於0.8的比較算子
// 創建濾波器並用條件定義對象初始化
pcl::ConditionalRemoval<pcl::PointXYZ> condrem;
condrem.setCondition (range_cond);
condrem.setInputCloud (cloud); //輸入點雲
condrem.setKeepOrganized(true); //設置保持點雲的結構
// 執行濾波
condrem.filter (*cloud_filtered); //大於0.0小於0.8這兩個條件用於建立濾波器
}
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;
return (0);
}