python-pcl installation and examples

Reference github link: https://github.com/strawlab/python-pcl/blob/master/appveyor.yml

1. Installation in Ubuntu16.04

sudo apt install libpcl-dev -y
pip install python-pcl

2. statistical outlier filter: using a recursive function

# -*- coding: utf-8 -*-
# port of
# http://pointclouds.org/documentation/tutorials/statistical_outlier.php
# you need to download
# http://svn.pointclouds.org/data/tutorials/table_scene_lms400.pcd

import pcl

def sta_filter(p_cloud, neg_p_cloud, ponit_num, p_totalnum):

    if ponit_num > int(0.75*p_totalnum):
        print('filtering...')

        fil = p_cloud.make_statistical_outlier_filter()
        fil.set_mean_k(ponit_num)
        fil.set_std_dev_mul_thresh(1.0)
   
        new_p_cloud = fil.filter()
        new_p_num = new_p_cloud.size

        fil.set_negative(True)
        neg_p_cloud = fil.filter()
        sta_filter(new_p_cloud, neg_p_cloud, new_p_num,  p_totalnum)
    
    else:
        pcl.save(p_cloud,
                 "./pcldata/tutorials/test_1_inliers.pcd")

        pcl.save(neg_p_cloud,
                 "./pcldata/tutorials/test_1_outliers.pcd")


if __name__ == "__main__":
    pcdfile = './pcldata/tutorials/test_1.pcd'
    p_cloud = pcl.load(pcdfile)
    ponit_num = p_cloud.size
    p_totalnum =  ponit_num
    sta_filter(p_cloud, p_cloud, ponit_num, p_totalnum)