PCL：滤波—StatisticalOutlierRemoval去离群点

#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);
}