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<div class="local-toc"><ul>
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<li><a class="reference internal" href="#">Removing outliers using a Conditional or RadiusOutlier removal</a></li>
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<li><a class="reference internal" href="#the-code">The code</a></li>
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<li><a class="reference internal" href="#radiusoutlierremoval-background">RadiusOutlierRemoval Background</a></li>
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<li><a class="reference internal" href="#conditionalremoval-background">ConditionalRemoval Background</a></li>
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<li><a class="reference internal" href="#the-explanation">The explanation</a></li>
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<li><a class="reference internal" href="#compiling-and-running-remove-outliers-cpp">Compiling and running remove_outliers.cpp</a></li>
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<li>Removing outliers using a Conditional or RadiusOutlier removal</li>
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<div class="section" id="removing-outliers-using-a-conditional-or-radiusoutlier-removal">
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<span id="remove-outliers"></span><h1>Removing outliers using a Conditional or RadiusOutlier removal</h1>
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<p>This document demonstrates how to remove outliers from a PointCloud using several different methods in the filter module. First we will look at how to use a ConditionalRemoval filter which removes all indices in the given input cloud that do not satisfy one or more given conditions. Then we will learn how to us a RadiusOutlierRemoval filter which removes all indices in its input cloud that don’t have at least some number of neighbors within a certain range.</p>
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</div>
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<div class="section" id="the-code">
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<h1>The code</h1>
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<p>First, create a file, let’s say, <code class="docutils literal notranslate"><span class="pre">remove_outliers.cpp</span></code> in your favorite
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editor, and place the following inside it:</p>
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<div class="highlight-cpp notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
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71</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf"><iostream></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/point_types.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/filters/radius_outlier_removal.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/filters/conditional_removal.h></span><span class="cp"></span>
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<span class="kt">int</span>
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<span class="nf">main</span> <span class="p">(</span><span class="kt">int</span> <span class="n">argc</span><span class="p">,</span> <span class="kt">char</span><span class="o">**</span> <span class="n">argv</span><span class="p">)</span>
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<span class="p">{</span>
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<span class="k">if</span> <span class="p">(</span><span class="n">argc</span> <span class="o">!=</span> <span class="mi">2</span><span class="p">)</span>
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<span class="p">{</span>
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<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"please specify command line arg '-r' or '-c'"</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
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<span class="n">exit</span><span class="p">(</span><span class="mi">0</span><span class="p">);</span>
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<span class="p">}</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span><span class="p">);</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span><span class="p">);</span>
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<span class="c1">// Fill in the cloud data</span>
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<span class="n">cloud</span><span class="o">-></span><span class="n">width</span> <span class="o">=</span> <span class="mi">5</span><span class="p">;</span>
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<span class="n">cloud</span><span class="o">-></span><span class="n">height</span> <span class="o">=</span> <span class="mi">1</span><span class="p">;</span>
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<span class="n">cloud</span><span class="o">-></span><span class="n">resize</span> <span class="p">(</span><span class="n">cloud</span><span class="o">-></span><span class="n">width</span> <span class="o">*</span> <span class="n">cloud</span><span class="o">-></span><span class="n">height</span><span class="p">);</span>
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<span class="k">for</span> <span class="p">(</span><span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
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<span class="p">{</span>
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<span class="n">point</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>
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||
<span class="n">point</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>
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||
<span class="n">point</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="k">if</span> <span class="p">(</span><span class="n">strcmp</span><span class="p">(</span><span class="n">argv</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="s">"-r"</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">){</span>
|
||
<span class="n">pcl</span><span class="o">::</span><span class="n">RadiusOutlierRemoval</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="n">outrem</span><span class="p">;</span>
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<span class="c1">// build the filter</span>
|
||
<span class="n">outrem</span><span class="p">.</span><span class="n">setInputCloud</span><span class="p">(</span><span class="n">cloud</span><span class="p">);</span>
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||
<span class="n">outrem</span><span class="p">.</span><span class="n">setRadiusSearch</span><span class="p">(</span><span class="mf">0.8</span><span class="p">);</span>
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||
<span class="n">outrem</span><span class="p">.</span><span class="n">setMinNeighborsInRadius</span> <span class="p">(</span><span class="mi">2</span><span class="p">);</span>
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||
<span class="n">outrem</span><span class="p">.</span><span class="n">setKeepOrganized</span><span class="p">(</span><span class="nb">true</span><span class="p">);</span>
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<span class="c1">// apply filter</span>
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<span class="n">outrem</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="p">}</span>
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||
<span class="k">else</span> <span class="k">if</span> <span class="p">(</span><span class="n">strcmp</span><span class="p">(</span><span class="n">argv</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="s">"-c"</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="p">());</span>
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||
<span class="n">range_cond</span><span class="o">-></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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="p">(</span><span class="s">"z"</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">-></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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="p">(</span><span class="s">"z"</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></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="p">}</span>
|
||
<span class="k">else</span><span class="p">{</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"please specify command line arg '-r' or '-c'"</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
<span class="n">exit</span><span class="p">(</span><span class="mi">0</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"><<</span> <span class="s">"Cloud before filtering: "</span> <span class="o"><<</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="k">const</span> <span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</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"><<</span> <span class="s">"Cloud after filtering: "</span> <span class="o"><<</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="k">const</span> <span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud_filtered</span><span class="p">)</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o"><<</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="radiusoutlierremoval-background">
|
||
<h1>RadiusOutlierRemoval Background</h1>
|
||
<p>The picture below helps to visualize what the RadiusOutlierRemoval filter object does. The user specifies a number of neighbors which every index must have within a specified radius to remain in the PointCloud. For example if 1 neighbor is specified, only the yellow point will be removed from the PointCloud. If 2 neighbors are specified then both the yellow and green points will be removed from the PointCloud.</p>
|
||
<img alt="_images/radius_outlier.png" src="_images/radius_outlier.png" />
|
||
</div>
|
||
<div class="section" id="conditionalremoval-background">
|
||
<h1>ConditionalRemoval Background</h1>
|
||
<p>Not much to explain here, this filter object removes all points from the PointCloud that do not satisfy one or more conditions that are specified by the user.</p>
|
||
</div>
|
||
<div class="section" id="the-explanation">
|
||
<h1>The explanation</h1>
|
||
<p>Let’s break down the code piece by piece.</p>
|
||
<p>Some of the code in all 3 of these files is the exact same, so I will only explain what it does once.</p>
|
||
<p>Initially the program ensures that the user has specified a command line argument:</p>
|
||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="k">if</span> <span class="p">(</span><span class="n">argc</span> <span class="o">!=</span> <span class="mi">2</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"><<</span> <span class="s">"please specify command line arg '-r' or '-c'"</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
<span class="n">exit</span><span class="p">(</span><span class="mi">0</span><span class="p">);</span>
|
||
<span class="p">}</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>In the following lines, we first define the PointCloud structures and fill one of them with random points:</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span><span class="p">);</span>
|
||
<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span><span class="p">);</span>
|
||
|
||
<span class="c1">// Fill in the cloud data</span>
|
||
<span class="n">cloud</span><span class="o">-></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">-></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">-></span><span class="n">resize</span> <span class="p">(</span><span class="n">cloud</span><span class="o">-></span><span class="n">width</span> <span class="o">*</span> <span class="n">cloud</span><span class="o">-></span><span class="n">height</span><span class="p">);</span>
|
||
|
||
<span class="k">for</span> <span class="p">(</span><span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
|
||
<span class="p">{</span>
|
||
<span class="n">point</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="n">point</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="n">point</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>
|
||
</pre></div>
|
||
</div>
|
||
<p>Here is where things are a little bit different depending on which filter class is being used – an if statement involving the command line options divides the program flow.</p>
|
||
<p>For the <em>RadiusOutlierRemoval</em>, the user must specify ‘-r’ as the command line argument so that this code is executed:</p>
|
||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="k">if</span> <span class="p">(</span><span class="n">strcmp</span><span class="p">(</span><span class="n">argv</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="s">"-r"</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</span><span class="p">){</span>
|
||
<span class="n">pcl</span><span class="o">::</span><span class="n">RadiusOutlierRemoval</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="n">outrem</span><span class="p">;</span>
|
||
<span class="c1">// build the filter</span>
|
||
<span class="n">outrem</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">outrem</span><span class="p">.</span><span class="n">setRadiusSearch</span><span class="p">(</span><span class="mf">0.8</span><span class="p">);</span>
|
||
<span class="n">outrem</span><span class="p">.</span><span class="n">setMinNeighborsInRadius</span> <span class="p">(</span><span class="mi">2</span><span class="p">);</span>
|
||
<span class="n">outrem</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">outrem</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="p">}</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>Basically, we create the RadiusOutlierRemoval filter object, set its parameters and apply it to our input cloud. The radius of search is set to 0.8, and a point must have a minimum of 2 neighbors in that radius to be kept as part of the PointCloud.</p>
|
||
<p>For the <em>ConditionalRemoval</em> class, the user must specify ‘-c’ as the command line argument so that this code is executed:</p>
|
||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="k">else</span> <span class="nf">if</span> <span class="p">(</span><span class="n">strcmp</span><span class="p">(</span><span class="n">argv</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span> <span class="s">"-c"</span><span class="p">)</span> <span class="o">==</span> <span class="mi">0</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="p">());</span>
|
||
<span class="n">range_cond</span><span class="o">-></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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="p">(</span><span class="s">"z"</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">-></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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">>::</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></span> <span class="p">(</span><span class="s">"z"</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"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span><span class="o">></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="p">}</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>Basically, we create the condition which a given point must satisfy for it to remain in our PointCloud. In this example, we use add two comparisons to the condition: greater than (GT) 0.0 and less than (LT) 0.8. This condition is then used to build the filter.</p>
|
||
<p>In both cases the code above creates the filter object that we are going to use and sets certain parameters that are necessary for the filtering to take place.</p>
|
||
<p>The following code just outputs PointCloud before filtering and then after applying whatever filter object is used:</p>
|
||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"Cloud before filtering: "</span> <span class="o"><<</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="k">const</span> <span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud</span><span class="p">)</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</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"><<</span> <span class="s">"Cloud after filtering: "</span> <span class="o"><<</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="k">const</span> <span class="k">auto</span><span class="o">&</span> <span class="nl">point</span><span class="p">:</span> <span class="o">*</span><span class="n">cloud_filtered</span><span class="p">)</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">" "</span> <span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">x</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">y</span> <span class="o"><<</span> <span class="s">" "</span>
|
||
<span class="o"><<</span> <span class="n">point</span><span class="p">.</span><span class="n">z</span> <span class="o"><<</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-remove-outliers-cpp">
|
||
<h1>Compiling and running remove_outliers.cpp</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">remove_outliers</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">${</span><span class="nv">PCL_DEFINITIONS</span><span class="o">}</span><span class="p">)</span>
|
||
|
||
<span class="nb">add_executable</span> <span class="p">(</span><span class="s">remove_outliers</span> <span class="s">remove_outliers.cpp</span><span class="p">)</span>
|
||
<span class="nb">target_link_libraries</span> <span class="p">(</span><span class="s">remove_outliers</span> <span class="o">${</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. If you would like to use ConditionalRemoval then simply do:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>$ ./remove_outliers -c
|
||
</pre></div>
|
||
</div>
|
||
<p>Otherwise, if you would like to use RadiusOutlierRemoval, simply do:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>$ ./remove_outliers -r
|
||
</pre></div>
|
||
</div>
|
||
<p>You will see something similar to (depending on which filter you are using):</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">0.0080142</span> <span class="mf">0.694695</span> <span class="o">-</span><span class="mf">0.26015</span>
|
||
<span class="o">-</span><span class="mf">0.342265</span> <span class="o">-</span><span class="mf">0.446349</span> <span class="mf">0.214207</span>
|
||
<span class="mf">0.173687</span> <span class="o">-</span><span class="mf">0.84253</span> <span class="o">-</span><span class="mf">0.400481</span>
|
||
<span class="o">-</span><span class="mf">0.874475</span> <span class="mf">0.706127</span> <span class="o">-</span><span class="mf">0.117635</span>
|
||
<span class="mf">0.908514</span> <span class="o">-</span><span class="mf">0.598159</span> <span class="mf">0.744714</span>
|
||
<span class="n">Cloud</span> <span class="n">after</span> <span class="n">filtering</span><span class="p">:</span>
|
||
<span class="n">nan</span> <span class="n">nan</span> <span class="n">nan</span>
|
||
<span class="o">-</span><span class="mf">0.342265</span> <span class="o">-</span><span class="mf">0.446349</span> <span class="mf">0.214207</span>
|
||
<span class="n">nan</span> <span class="n">nan</span> <span class="n">nan</span>
|
||
<span class="n">nan</span> <span class="n">nan</span> <span class="n">nan</span>
|
||
<span class="mf">0.908514</span> <span class="o">-</span><span class="mf">0.598159</span> <span class="mf">0.744714</span>
|
||
</pre></div>
|
||
</div>
|
||
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|
||
|
||
|
||
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|
||
|
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