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<li><a class="reference internal" href="#">Removing outliers using a ConditionalRemoval filter</a></li>
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<div class="section" id="removing-outliers-using-a-conditionalremoval-filter">
<span id="conditional-removal"></span><h1>Removing outliers using a ConditionalRemoval filter</h1>
<p>This document demonstrates how to use the ConditionalRemoval filter to remove points from a PointCloud that do not satisfy a specific or multiple conditions.</p>
</div>
<div class="section" id="the-code">
<h1>The code</h1>
<p>First, create a file, let’s say, conditional_removal.cpp in you favorite editor, and place the following inside it:</p>
<div class="highlight-cpp notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
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52</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf">&lt;iostream&gt;</span><span class="cp"></span>
<span class="cp">#include</span> <span class="cpf">&lt;pcl/point_types.h&gt;</span><span class="cp"></span>
<span class="cp">#include</span> <span class="cpf">&lt;pcl/filters/conditional_removal.h&gt;</span><span class="cp"></span>
<span class="kt">int</span>
<span class="nf">main</span> <span class="p">()</span>
<span class="p">{</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;::</span><span class="n">Ptr</span> <span class="n">cloud</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span><span class="p">);</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;::</span><span class="n">Ptr</span> <span class="n">cloud_filtered</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span><span class="p">);</span>
<span class="c1">// Fill in the cloud data</span>
<span class="n">cloud</span><span class="o">-&gt;</span><span class="n">width</span> <span class="o">=</span> <span class="mi">5</span><span class="p">;</span>
<span class="n">cloud</span><span class="o">-&gt;</span><span class="n">height</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span>
<span class="n">cloud</span><span class="o">-&gt;</span><span class="n">points</span><span class="p">.</span><span class="n">resize</span> <span class="p">(</span><span class="n">cloud</span><span class="o">-&gt;</span><span class="n">width</span> <span class="o">*</span> <span class="n">cloud</span><span class="o">-&gt;</span><span class="n">height</span><span class="p">);</span>
<span class="k">for</span> <span class="p">(</span><span class="n">std</span><span class="o">::</span><span class="kt">size_t</span> <span class="n">i</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span> <span class="n">i</span> <span class="o">&lt;</span> <span class="n">cloud</span><span class="o">-&gt;</span><span class="n">size</span> <span class="p">();</span> <span class="o">++</span><span class="n">i</span><span class="p">)</span>
<span class="p">{</span>
<span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">x</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
<span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">y</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
<span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">z</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
<span class="p">}</span>
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o">&lt;&lt;</span> <span class="s">&quot;Cloud before filtering: &quot;</span> <span class="o">&lt;&lt;</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
<span class="k">for</span> <span class="p">(</span><span class="n">std</span><span class="o">::</span><span class="kt">size_t</span> <span class="n">i</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span> <span class="n">i</span> <span class="o">&lt;</span> <span class="n">cloud</span><span class="o">-&gt;</span><span class="n">size</span> <span class="p">();</span> <span class="o">++</span><span class="n">i</span><span class="p">)</span>
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span> <span class="o">&lt;&lt;</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">x</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span>
<span class="o">&lt;&lt;</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">y</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span>
<span class="o">&lt;&lt;</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">z</span> <span class="o">&lt;&lt;</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
<span class="c1">// build the condition</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">ConditionAnd</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;::</span><span class="n">Ptr</span> <span class="n">range_cond</span> <span class="p">(</span><span class="k">new</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">ConditionAnd</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span> <span class="p">());</span>
<span class="n">range_cond</span><span class="o">-&gt;</span><span class="n">addComparison</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">FieldComparison</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;::</span><span class="n">ConstPtr</span> <span class="p">(</span><span class="k">new</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">FieldComparison</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span> <span class="p">(</span><span class="s">&quot;z&quot;</span><span class="p">,</span> <span class="n">pcl</span><span class="o">::</span><span class="n">ComparisonOps</span><span class="o">::</span><span class="n">GT</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)));</span>
<span class="n">range_cond</span><span class="o">-&gt;</span><span class="n">addComparison</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">FieldComparison</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;::</span><span class="n">ConstPtr</span> <span class="p">(</span><span class="k">new</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">FieldComparison</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span> <span class="p">(</span><span class="s">&quot;z&quot;</span><span class="p">,</span> <span class="n">pcl</span><span class="o">::</span><span class="n">ComparisonOps</span><span class="o">::</span><span class="n">LT</span><span class="p">,</span> <span class="mf">0.8</span><span class="p">)));</span>
<span class="c1">// build the filter</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">ConditionalRemoval</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span> <span class="n">condrem</span><span class="p">;</span>
<span class="n">condrem</span><span class="p">.</span><span class="n">setCondition</span> <span class="p">(</span><span class="n">range_cond</span><span class="p">);</span>
<span class="n">condrem</span><span class="p">.</span><span class="n">setInputCloud</span> <span class="p">(</span><span class="n">cloud</span><span class="p">);</span>
<span class="n">condrem</span><span class="p">.</span><span class="n">setKeepOrganized</span> <span class="p">(</span><span class="nb">true</span><span class="p">);</span>
<span class="c1">// apply filter</span>
<span class="n">condrem</span><span class="p">.</span><span class="n">filter</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_filtered</span><span class="p">);</span>
<span class="c1">// display pointcloud after filtering</span>
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o">&lt;&lt;</span> <span class="s">&quot;Cloud after filtering: &quot;</span> <span class="o">&lt;&lt;</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
<span class="k">for</span> <span class="p">(</span><span class="n">std</span><span class="o">::</span><span class="kt">size_t</span> <span class="n">i</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span> <span class="n">i</span> <span class="o">&lt;</span> <span class="n">cloud_filtered</span><span class="o">-&gt;</span><span class="n">size</span> <span class="p">();</span> <span class="o">++</span><span class="n">i</span><span class="p">)</span>
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span> <span class="o">&lt;&lt;</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_filtered</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">x</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span>
<span class="o">&lt;&lt;</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_filtered</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">y</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span>
<span class="o">&lt;&lt;</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_filtered</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">z</span> <span class="o">&lt;&lt;</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
<span class="k">return</span> <span class="p">(</span><span class="mi">0</span><span class="p">);</span>
<span class="p">}</span>
</pre></div>
</td></tr></table></div>
</div>
<div class="section" id="the-explanation">
<h1>The explanation</h1>
<p>Now, let’s break down the code piece by piece.</p>
<p>In the following Lines, we define the PointCloud structures, fill in the input cloud, and display it’s content to screen.</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;::</span><span class="n">Ptr</span> <span class="n">cloud</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span><span class="p">);</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;::</span><span class="n">Ptr</span> <span class="n">cloud_filtered</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span><span class="p">);</span>
<span class="c1">// Fill in the cloud data</span>
<span class="n">cloud</span><span class="o">-&gt;</span><span class="n">width</span> <span class="o">=</span> <span class="mi">5</span><span class="p">;</span>
<span class="n">cloud</span><span class="o">-&gt;</span><span class="n">height</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span>
<span class="n">cloud</span><span class="o">-&gt;</span><span class="n">points</span><span class="p">.</span><span class="n">resize</span> <span class="p">(</span><span class="n">cloud</span><span class="o">-&gt;</span><span class="n">width</span> <span class="o">*</span> <span class="n">cloud</span><span class="o">-&gt;</span><span class="n">height</span><span class="p">);</span>
<span class="k">for</span> <span class="p">(</span><span class="n">std</span><span class="o">::</span><span class="kt">size_t</span> <span class="n">i</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span> <span class="n">i</span> <span class="o">&lt;</span> <span class="n">cloud</span><span class="o">-&gt;</span><span class="n">size</span> <span class="p">();</span> <span class="o">++</span><span class="n">i</span><span class="p">)</span>
<span class="p">{</span>
<span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">x</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
<span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">y</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
<span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">z</span> <span class="o">=</span> <span class="mi">1024</span> <span class="o">*</span> <span class="n">rand</span> <span class="p">()</span> <span class="o">/</span> <span class="p">(</span><span class="n">RAND_MAX</span> <span class="o">+</span> <span class="mf">1.0f</span><span class="p">);</span>
<span class="p">}</span>
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o">&lt;&lt;</span> <span class="s">&quot;Cloud before filtering: &quot;</span> <span class="o">&lt;&lt;</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
<span class="k">for</span> <span class="p">(</span><span class="n">std</span><span class="o">::</span><span class="kt">size_t</span> <span class="n">i</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span> <span class="n">i</span> <span class="o">&lt;</span> <span class="n">cloud</span><span class="o">-&gt;</span><span class="n">size</span> <span class="p">();</span> <span class="o">++</span><span class="n">i</span><span class="p">)</span>
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span> <span class="o">&lt;&lt;</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">x</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span>
<span class="o">&lt;&lt;</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">y</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span>
<span class="o">&lt;&lt;</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">z</span> <span class="o">&lt;&lt;</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
</pre></div>
</div>
<p>Then, we create the condition which a given point must satisfy so that it remains in our PointCloud. To do this we must add two comparisons to the condition, greater than 0.0, and less than 0.8. This condition is then used to build the filter.</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="c1">// build the condition</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">ConditionAnd</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;::</span><span class="n">Ptr</span> <span class="n">range_cond</span> <span class="p">(</span><span class="k">new</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">ConditionAnd</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span> <span class="p">());</span>
<span class="n">range_cond</span><span class="o">-&gt;</span><span class="n">addComparison</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">FieldComparison</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;::</span><span class="n">ConstPtr</span> <span class="p">(</span><span class="k">new</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">FieldComparison</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span> <span class="p">(</span><span class="s">&quot;z&quot;</span><span class="p">,</span> <span class="n">pcl</span><span class="o">::</span><span class="n">ComparisonOps</span><span class="o">::</span><span class="n">GT</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">)));</span>
<span class="n">range_cond</span><span class="o">-&gt;</span><span class="n">addComparison</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">FieldComparison</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;::</span><span class="n">ConstPtr</span> <span class="p">(</span><span class="k">new</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">FieldComparison</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span> <span class="p">(</span><span class="s">&quot;z&quot;</span><span class="p">,</span> <span class="n">pcl</span><span class="o">::</span><span class="n">ComparisonOps</span><span class="o">::</span><span class="n">LT</span><span class="p">,</span> <span class="mf">0.8</span><span class="p">)));</span>
<span class="c1">// build the filter</span>
<span class="n">pcl</span><span class="o">::</span><span class="n">ConditionalRemoval</span><span class="o">&lt;</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">&gt;</span> <span class="n">condrem</span><span class="p">;</span>
<span class="n">condrem</span><span class="p">.</span><span class="n">setCondition</span> <span class="p">(</span><span class="n">range_cond</span><span class="p">);</span>
<span class="n">condrem</span><span class="p">.</span><span class="n">setInputCloud</span> <span class="p">(</span><span class="n">cloud</span><span class="p">);</span>
<span class="n">condrem</span><span class="p">.</span><span class="n">setKeepOrganized</span> <span class="p">(</span><span class="nb">true</span><span class="p">);</span>
</pre></div>
</div>
<p>This last bit of code just applies the filter to our original PointCloud, and removes all of the points that do not satisfy the conditions we specified. Then it outputs all of the points remaining in the PointCloud.</p>
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="c1">// apply filter</span>
<span class="n">condrem</span><span class="p">.</span><span class="n">filter</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_filtered</span><span class="p">);</span>
<span class="c1">// display pointcloud after filtering</span>
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o">&lt;&lt;</span> <span class="s">&quot;Cloud after filtering: &quot;</span> <span class="o">&lt;&lt;</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
<span class="k">for</span> <span class="p">(</span><span class="n">std</span><span class="o">::</span><span class="kt">size_t</span> <span class="n">i</span> <span class="o">=</span> <span class="mi">0</span><span class="p">;</span> <span class="n">i</span> <span class="o">&lt;</span> <span class="n">cloud_filtered</span><span class="o">-&gt;</span><span class="n">size</span> <span class="p">();</span> <span class="o">++</span><span class="n">i</span><span class="p">)</span>
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span> <span class="o">&lt;&lt;</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_filtered</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">x</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span>
<span class="o">&lt;&lt;</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_filtered</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">y</span> <span class="o">&lt;&lt;</span> <span class="s">&quot; &quot;</span>
<span class="o">&lt;&lt;</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_filtered</span><span class="p">)[</span><span class="n">i</span><span class="p">].</span><span class="n">z</span> <span class="o">&lt;&lt;</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
</pre></div>
</div>
</div>
<div class="section" id="compiling-and-running-the-program">
<h1>Compiling and running the program</h1>
<p>Add the following lines to your CMakeLists.txt file:</p>
<div class="highlight-cmake notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
2
3
4
5
6
7
8
9
10
11
12</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="nb">cmake_minimum_required</span><span class="p">(</span><span class="s">VERSION</span> <span class="s">3.5</span> <span class="s">FATAL_ERROR</span><span class="p">)</span>
<span class="nb">project</span><span class="p">(</span><span class="s">conditional_removal</span><span class="p">)</span>
<span class="nb">find_package</span><span class="p">(</span><span class="s">PCL</span> <span class="s">1.2</span> <span class="s">REQUIRED</span><span class="p">)</span>
<span class="nb">include_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_INCLUDE_DIRS</span><span class="o">}</span><span class="p">)</span>
<span class="nb">link_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_LIBRARY_DIRS</span><span class="o">}</span><span class="p">)</span>
<span class="nb">add_definitions</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_DEFINITIONS</span><span class="o">}</span><span class="p">)</span>
<span class="nb">add_executable</span> <span class="p">(</span><span class="s">conditional_removal</span> <span class="s">conditional_removal.cpp</span><span class="p">)</span>
<span class="nb">target_link_libraries</span> <span class="p">(</span><span class="s">conditional_removal</span> <span class="o">${</span><span class="nv">PCL_LIBRARIES</span><span class="o">}</span><span class="p">)</span>
</pre></div>
</td></tr></table></div>
<p>After you have made the executable, you can run it. Simply do:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>$ ./conditioinal_removal
</pre></div>
</div>
<p>You will see something similar to:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">Cloud</span> <span class="n">before</span> <span class="n">filtering</span><span class="p">:</span>
<span class="mf">0.352222</span> <span class="o">-</span><span class="mf">0.151883</span> <span class="o">-</span><span class="mf">0.106395</span>
<span class="o">-</span><span class="mf">0.397406</span> <span class="o">-</span><span class="mf">0.473106</span> <span class="mf">0.292602</span>
<span class="o">-</span><span class="mf">0.731898</span> <span class="mf">0.667105</span> <span class="mf">0.441304</span>
<span class="o">-</span><span class="mf">0.734766</span> <span class="mf">0.854581</span> <span class="o">-</span><span class="mf">0.0361733</span>
<span class="o">-</span><span class="mf">0.4607</span> <span class="o">-</span><span class="mf">0.277468</span> <span class="o">-</span><span class="mf">0.916762</span>
<span class="n">Cloud</span> <span class="n">after</span> <span class="n">filtering</span><span class="p">:</span>
<span class="o">-</span><span class="mf">0.397406</span> <span class="o">-</span><span class="mf">0.473106</span> <span class="mf">0.292602</span>
<span class="o">-</span><span class="mf">0.731898</span> <span class="mf">0.667105</span> <span class="mf">0.441304</span>
</pre></div>
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