篇章6.3 使用StatisticalOutlierRemoval滤波器移除离群点

激光雷达扫描出来的点不可能是非常完美的轮廓，一定会存在一些噪声点。我们可以通过上面这个滤波器，来实现对这些噪声点的去除。

篇章6.2实现了如何滤除规定区域的点，本篇实现如何滤除周围的噪声点。

CMakeLists.txt 文件：

cmake_minimum_required(VERSION 3.5 FATAL_ERROR)

project(statistical_removal)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (statistical_removal statistical_removal.cpp)
target_link_libraries (statistical_removal ${PCL_LIBRARIES})

statistical_removal.cpp文件：

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

int
main ()
{
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);

  // Fill in the cloud data
  pcl::PCDReader reader;
  // Replace the path below with the path where you saved your file
  reader.read<pcl::PointXYZ> ("table_scene_lms400.pcd", *cloud);

  std::cerr << "Cloud before filtering: " << std::endl;
  std::cerr << *cloud << std::endl;

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

  std::cerr << "Cloud after filtering: " << std::endl;
  std::cerr << *cloud_filtered << std::endl;

  pcl::PCDWriter writer;
  writer.write<pcl::PointXYZ> ("table_scene_lms400_inliers.pcd", *cloud_filtered, false);

  sor.setNegative (true);
  sor.filter (*cloud_filtered);
  writer.write<pcl::PointXYZ> ("table_scene_lms400_outliers.pcd", *cloud_filtered, false);

  return (0);
}

然后输入

 ./statistical_removal会生成连个pcd文件。我们使用pcl_viwer打开。

下图为原始图像：

下图为过滤后的图像，我们可以看到一些边缘上的噪声点被去除了：

下图为滤掉的点：