PCL移除离群点StatisticalOutlierRemoval点云滤波

StatisticalOutlierRemoval

        StatisticalOutlierRemoval是用来去除点云数据中的离群点（噪点），使用的方法为：对于每个点的，计算它到它所有临近点的平均距离，假设得到的是一个高斯分布，那么根据均值与标准差，平均距离在标准范围外的点，就是离群点

代码

#include <iostream>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/octree/octree.h>
#include <boost/thread/thread.hpp>
#include <pcl/common/common_headers.h>
#include <pcl/features/normal_3d.h>
#include <pcl/console/parse.h>
#include <pcl/filters/passthrough.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/statistical_outlier_removal.h>
//#include <bits/stdc++.h>
#include <vector>
#include <ctime>

using namespace std;

int main()
{
    pcl::visualization::CloudViewer viewer("Cloud Viewer");
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>());


    if (pcl::io::loadPCDFile<pcl::PointXYZ> ("table_scene_lms400_far_ranges.pcd", *cloud) == -1){
            PCL_ERROR("couldn't read file");
            return 0;
    }


    cerr<<"cloud before filtering"<<endl;
    cerr<<cloud->points.size()<<endl;
    cerr<<cloud->height<<"  "<<cloud->width<<endl;


    pcl::StatisticalOutlierRemoval<pcl::PointXYZ>sor;
    sor.setInputCloud(cloud);
    sor.setMeanK(50);
    sor.setStddevMulThresh(1.0);
    sor.filter(*cloud_filtered);

    cerr<<"cloud after filtering"<<endl;
    cerr<<cloud_filtered->points.size()<<endl;
    cerr<<cloud_filtered->height<<"  "<<cloud_filtered->width<<endl;

    viewer.showCloud(cloud_filtered);
    while(!viewer.wasStopped());
    return 0;

}

原图

删除离群点后