本文主要是介绍使用ConditionalRemoval或RadiusOutlierRemoval移除离群点，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！
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 datacloud->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 filteroutrem.setInputCloud(cloud);outrem.setRadiusSearch(100);outrem.setMinNeighborsInRadius(2);// apply filteroutrem.filter(*cloud_filtered);}else if (strcmp(argv[1], "-c") == 0) {// build the conditionpcl::ConditionAnd<pcl::PointXYZ>::Ptr range_cond(newpcl::ConditionAnd<pcl::PointXYZ>());range_cond->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(newpcl::FieldComparison<pcl::PointXYZ>("z", pcl::ComparisonOps::GT, 200.0)));range_cond->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(newpcl::FieldComparison<pcl::PointXYZ>("z", pcl::ComparisonOps::LT, 500.0)));// build the filterpcl::ConditionalRemoval<pcl::PointXYZ> condrem;condrem.setCondition(range_cond);condrem.setInputCloud(cloud);condrem.setKeepOrganized(true);// apply filtercondrem.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 filteringstd::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;
}这篇关于使用ConditionalRemoval或RadiusOutlierRemoval移除离群点的文章就介绍到这儿，希望我们推荐的文章对编程师们有所帮助！
