PCL滤波器移除离群点

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/filters/statistical_outlier_removal.h>

int main()
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr table_point(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr table_point_filter(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PCDReader reader;
	reader.read<pcl::PointXYZ>("E:\\vs_code\\hello_pcl\\hello_pcl\\table_scene_lms400.pcd",*table_point);
	
	pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor;
	sor.setInputCloud(table_point);
	sor.setMeanK(50);
	sor.setStddevMulThresh(1.0);
	sor.filter(*table_point_filter);

	pcl::visualization::PCLVisualizer my_viewer1;
	pcl::visualization::PCLVisualizer my_viewer2;

	my_viewer1.addPointCloud(table_point);
	my_viewer2.addPointCloud(table_point_filter);
	while(!my_viewer1.wasStopped())
	{
		my_viewer1.spinOnce(100);
		my_viewer2.spinOnce(100);
	}
	return 0;
}

关键代码

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

设置输入点云、设置最近点查询的点数、设置平均距离的阈值，进行计算