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#include <iostream>
#include <random>

#include "pcl/point_types.h"
#include "pcl/filters/conditional_removal.h"
#include "pcl/visualization/pcl_visualizer.h"

int main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_removed(new pcl::PointCloud<pcl::PointXYZ>);

	//step1: 创建点云数据
	std::random_device rd;
	std::default_random_engine random(rd());
	std::uniform_real_distribution<float> dis(0.0f, 3.0f);

	for (int i = 0; i < 3000; ++i)
	{
		float x = dis(random);
		float y = dis(random);
		float z = dis(random);
		cloud->points.push_back({ x, y, z });
	}

	//step2: 创建条件滤波对象
	pcl::ConditionalRemoval<pcl::PointXYZ> conditional_removal;

	//step3: 设置条件滤波参数

	//条件与
	//保留点云xyz坐标都在[1,2]之内的点
	pcl::ConditionAnd<pcl::PointXYZ>::Ptr condition_add(new pcl::ConditionAnd<pcl::PointXYZ>());
	condition_add->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(new pcl::FieldComparison<pcl::PointXYZ>("z", pcl::ComparisonOps::GE, 1.0)));
	condition_add->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(new pcl::FieldComparison<pcl::PointXYZ>("z", pcl::ComparisonOps::LE, 2.0)));
	condition_add->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(new pcl::FieldComparison<pcl::PointXYZ>("y", pcl::ComparisonOps::GE, 1.0)));
	condition_add->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(new pcl::FieldComparison<pcl::PointXYZ>("y", pcl::ComparisonOps::LE, 2.0)));
	condition_add->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(new pcl::FieldComparison<pcl::PointXYZ>("x", pcl::ComparisonOps::GE, 1.0)));
	condition_add->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(new pcl::FieldComparison<pcl::PointXYZ>("x", pcl::ComparisonOps::LE, 2.0)));

	//条件或
	pcl::ConditionOr<pcl::PointXYZ>::Ptr condition_or(new pcl::ConditionOr<pcl::PointXYZ>());
	condition_or->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(new pcl::FieldComparison<pcl::PointXYZ>("z", pcl::ComparisonOps::GE, 2)));
	condition_or->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(new pcl::FieldComparison<pcl::PointXYZ>("x", pcl::ComparisonOps::GE, 1.5)));

	//condition_add->addCondition(condition_or);
	condition_or->addCondition(condition_add);
	 
	conditional_removal.setCondition(condition_or);
	conditional_removal.setInputCloud(cloud);


	//step4: 执行滤波处理
	conditional_removal.filter(*cloud_filtered);

	//step5: 可视化滤波结果
	pcl::visualization::PCLVisualizer viewer("pcl condition removal filter");
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> cloud_handler(cloud, 255, 0, 0);
	viewer.addPointCloud(cloud, cloud_handler, "cloud");

	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> filtered_handler(cloud_filtered, 0, 255, 0);
	viewer.addPointCloud(cloud_filtered, filtered_handler, "cloud_filtered");

	viewer.addCoordinateSystem(1);

	while (!viewer.wasStopped())
	{
		viewer.spinOnce();
	}
	viewer.close();

	return 0;
}

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condition_add->addComparison(pcl::FieldComparison<pcl::PointXYZ>::ConstPtr(new pcl::FieldComparison<pcl::PointXYZ>("z", pcl::ComparisonOps::GE, 1.0)));

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pcl::ComparisonOps::LE //小于等于
pcl::ComparisonOps::GT //大于
pcl::ComparisonOps::LT //小于
pcl::ComparisonOps::EQ //相等

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conditional_removal.setCondition(condition_add);

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conditional_removal.setCondition(condition_or);

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condition_or->addCondition(condition_add);
conditional_removal.setCondition(condition_or);

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condition_add->addCondition(condition_or);
conditional_removal.setCondition(condition_add);