PCL RadiusOutlierRemoval 半径滤波器

一、原理

      对整个输入迭代一次，对于每个点进行半径R邻域搜索，如果邻域点的个数低于某一阈值，则该点将被视为噪声点并被移除。

二、点云

 整体代码：

int main()
{
    pcl::PointCloud::Ptr cloud(new pcl::PointCloud);			//待滤波点云
    pcl::PointCloud::Ptr cloud_filtered(new pcl::PointCloud);	//滤波后点云

    ///读入点云数据
    cout << "->正在读入点云..." << endl;
    pcl::PCDReader reader;
    reader.read("desktop.pcd", *cloud);
    cout << "\t\t<读入点云信息>\n" << *cloud << endl;

    ///半径滤波
    cout << "->正在进行半径滤波..." << endl;
    pcl::RadiusOutlierRemoval ror;	//创建滤波器对象
    ror.setInputCloud(cloud);						//设置待滤波点云
    ror.setRadiusSearch(0.02);						//设置查询点的半径范围
    ror.setMinNeighborsInRadius(5);			//设置判断是否为离群点的阈值，即半径内至少包括的点数
    //ror.setNegative(true);						   //默认false，保存内点；true，保存滤掉的外点
    ror.filter(*cloud_filtered);					       //执行滤波，保存滤波结果于cloud_filtered

    ///保存下采样点云
    cout << "->正在保存滤波点云..." << endl;
    pcl::PCDWriter writer;
    writer.write("RadiusOutlierRemoval.pcd", *cloud_filtered, true);
    cout << "\t\t<保存点云信息>\n" << *cloud_filtered << endl;

    //================================= 滤波前后对比可视化 ================================= ↓

    pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("滤波前后对比"));

    /*-----视口1-----*/
    int v1(0);
    viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1); //设置第一个视口在X轴、Y轴的最小值、最大值，取值在0-1之间
    viewer->setBackgroundColor(0, 0, 0, v1); //设置背景颜色，0-1，默认黑色（0，0，0）
    viewer->addText("befor_filtered", 10, 10, "v1_text", v1);
    viewer->addPointCloud(cloud, "befor_filtered_cloud", v1);

    /*-----视口2-----*/
    int v2(0);
    viewer->createViewPort(0.5, 0.0, 1.0, 1.0, v2);
    viewer->setBackgroundColor(0.3, 0.3, 0.3, v2);
    viewer->addText("after_filtered", 10, 10, "v2_text", v2);
    viewer->addPointCloud(cloud_filtered, "after_filtered_cloud", v2);

    /*-----设置相关属性-----*/
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "befor_filtered_cloud", v1);
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 0, 0, "befor_filtered_cloud", v1);

    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "after_filtered_cloud", v2);
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 0, 1, 0, "after_filtered_cloud", v2);

    while (!viewer->wasStopped())
    {
        viewer->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }

    //================================= 滤波前后对比可视化 ================================= ↑

    return 0;
}