基于pcl的点云滤波

C++版本：

#include <pcl/point_types.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/pcd_io.h>

typeef pcl::PointCloud<pcl::PointXYZ> PointCloud;

int main (int argc, char** argv)
{
  PointCloud::Ptr cloud (new PointCloud);
  PointCloud::Ptr src (new PointCloud);
  PointCloud::Ptr srcc (new PointCloud);

  if(pcl::io::loadPCDFile(argv[1], *cloud)==-1)  {
   PCL_ERROR("Couldn't read that pcd file\n"); return(-1);}

   //----VoxelGrid对一个给定点云进行下采样和滤波
   pcl::VoxelGrid<pcl::PointXYZ> grid;
   grid.setLeafSize (0.05, 0.05, 0.05); //设置体元网格的叶子大小
   grid.setInputCloud (cloud);
   grid.filter (*src); //下采样和滤波，并保存
   //----使用statisticalOutlierRemoval滤波器移除离群点   
   pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor;
   sor.setInputCloud (src);
   sor.setMeanK (50); //设置在进行统计时考虑查询点临近点数
   sor.setStddevMulThresh (0.5);  //设置判断是否为离群点的阀值
   sor.filter (*srcc);
   //----使用RadiusOutlinerRemoval移除离群点，设定每个点一定范围内周围至少有足够多的近邻,不满足就会被删除
   pcl::RadiusOutlierRemoval<pcl::PointXYZI> outrem;
   outrem.setInputCloud(srcc);    //设置输入点云
   outrem.setRadiusSearch(0.1);     //设置半径为0.8的范围内找临近点
   outrem.setMinNeighborsInRadius (10); //设置查询点的邻域点集数小于2的删除
   outrem.filter (*cloud);

   pcl::io::savePCDFileASCII ("filter.pcd",*cloud);
}

编译成功了，运行时总出现以下错误，目前找不到原因：段错误 (核心已转储)

python-pcl版本

#网格滤波
#!/usr/bin/env python3
import sys
import pcl
text=sys.argv[1]
print("Start voxel grid filter:")
p = pcl.load(text)
fil=p.make_ApproximateVoxelGrid()
fil.set_leaf_size(0.01, 0.01, 0.01)
text0=fil.filter()
pcl.save(fil.filter(), "voxel_"+text)


#移除离群点滤波
#!/usr/bin/env python3
import sys
import pcl
text=sys.argv[1]
print("Start statistical outlier filter:")
p = pcl.load(text)
fil = p.make_statistical_outlier_filter()
fil.set_mean_k(50)
fil.set_std_dev_mul_thresh(2)
pcl.save(fil.filter(), "static_"+text)
print("static:","static_"+text)