PCL filter implementation example

pcl_filter_example.cpp

void PCLManager::edgeRmoveFilter(pcl::PointCloud<PointType>::Ptr cloud) {
	pcl::PointCloud<PointNormalType>::Ptr normal = createNormals(cloud);

	vector<int> removeIndex;
	for (int i = 0; i < cloud->points.size(); i++)
	{
		if (abs(normal->points[i].normal_x / normal->points[i].normal_z) > 0.1)
		{
			removeIndex.push_back(i);
		}
	}

	for (int i = 0; i < removeIndex.size(); i++)
	{
		cloud->erase(cloud->points.begin() + removeIndex[i] - i);
	}
}


void PCLManager::statisticalOutlierFilter(pcl::PointCloud<PointType>::Ptr cloud)
{
	pcl::StatisticalOutlierRemoval<PointType> sor;
	sor.setInputCloud(cloud);
	sor.setMeanK(10);
	sor.setStddevMulThresh(1.0);

	pcl::PointCloud<PointType>::Ptr cloud_filtered(new pcl::PointCloud<PointType>);
	sor.filter(*cloud_filtered);

	pcl::copyPointCloud(*cloud_filtered, *cloud);
	cloud_filtered.reset();
}

void PCLManager::voxelGridFilter(float leaf, pcl::PointCloud<PointType>::Ptr cloud)
{
	//VoxelGrid
	pcl::VoxelGrid<PointType> grid;
	grid.setLeafSize(leaf, leaf, leaf);
	grid.setInputCloud(cloud);
	pcl::PointCloud<PointType>::Ptr cloud_filtered(new pcl::PointCloud<PointType>());
	grid.filter(*cloud_filtered);
	pcl::copyPointCloud(*cloud_filtered, *cloud);
	cloud_filtered.reset();
}

void PCLManager::extractIndices(pcl::PointCloud<PointType>::Ptr cloud, pcl::PointIndices::Ptr inliners)
{
	pcl::PointCloud<PointType>::Ptr tmp(new pcl::PointCloud<PointType>());
	pcl::copyPointCloud(*cloud, *tmp);

	pcl::ExtractIndices<PointType> extract;
	extract.setInputCloud(tmp);
	extract.setIndices(inliners);

	extract.setNegative(true);
	extract.filter(*cloud);
}

void PCLManager::radiusOutlinerFilter(pcl::PointCloud<PointType>::Ptr cloud) {
	pcl::RadiusOutlierRemoval<PointType> ror;
	ror.setInputCloud(cloud);
	ror.setRadiusSearch(0.05);
	ror.setMinNeighborsInRadius(2);
	pcl::PointCloud<PointType>::Ptr filterdCloud(new pcl::PointCloud<PointType>());
	ror.filter(*filterdCloud);
	*cloud = *filterdCloud;
	filterdCloud.reset();
}

void PCLManager::passThroughFilter(pcl::PointCloud<PointType>::Ptr inputCloud, const string &fieldName, float min, float max) {
	pcl::PassThrough<PointType> pass;
	pass.setInputCloud(inputCloud);
	pass.setFilterFieldName(fieldName);
	pass.setFilterLimits(min, max);

	pcl::PointCloud<PointType>::Ptr filterdCloud(new pcl::PointCloud<PointType>());
	pass.filter(*filterdCloud);
	*inputCloud = *filterdCloud;
}

void PCLManager::nanRemovalFilter(pcl::PointCloud<PointType>::Ptr cloud) {
	std::vector<int> indices;
	pcl::removeNaNFromPointCloud(*cloud, *cloud, indices);
}