#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/statistical_outlier_removal.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>);
// 填入点云数据
pcl::PCDReader reader;
// 把路径改为自己存放文件的路径
reader.read<pcl::PointXYZ> ("..\\source\\table_scene_lms400.pcd", *cloud);
std::cerr << "Cloud before filtering: " << std::endl;
std::cerr << *cloud << std::endl;
// 创建滤波器对象
pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor;
sor.setInputCloud (cloud);
sor.setMeanK (50);//设置在进行统计时考虑查询点邻近点数
sor.setStddevMulThresh (1.0);//设置判断是否为离群点的倒值,x = 1.0, t = mean+/-(stddev*x)
sor.filter (*cloud_filtered);
std::cerr << "Cloud after filtering: " << std::endl;
std::cerr << *cloud_filtered << std::endl;
pcl::PCDWriter writer;
writer.write<pcl::PointXYZ> ("D:\\vs2015Projects\\TestPCL\\data\\table_scene_lms400_inliers.pcd", *cloud_filtered, false);
sor.setNegative (true);//true,输出外点,即不满足阈值范围的离群点
sor.filter (*cloud_filtered);
writer.write<pcl::PointXYZ> ("D:\\vs2015Projects\\TestPCL\\data\\table_scene_lms400_outliers.pcd", *cloud_filtered, false);
return (0);
}
PCL:滤波—StatisticalOutlierRemoval去离群点
最新推荐文章于 2024-08-02 12:16:14 发布