基于多线雷达的数据异常检测:
原始数据展示:
/*
强度异常点检测:虚点(0),(255)
*/
#pragma warning(disable:4996)
#include <iostream>
#include <fstream>
#include <vector>
#include <string>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/filters/filter.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/visualization/cloud_viewer.h>
using namespace std;
typedef pcl::PointXYZI PointT;
int main()
{
//读取数据
//pcl::PointCloud<PointT>::Ptr cloud_o(new pcl::PointCloud<PointT>);
pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
pcl::PCDReader r;
r.read("C:\\Users\\HEHE\\Desktop\\PCA\\Q\\double_line\\pcd