PCL移除离群点StatisticalOutlierRemoval点云滤波

╰半夏微凉° 2023-02-28 04:26 139阅读 0赞

# 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 #

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70][]

# 删除离群点后 #

# ![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70 1][] #

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70]: /images/20230209/fc11903c32ed4f008a70d3fd7038c325.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzQxNjg1MjY1_size_16_color_FFFFFF_t_70 1]: /images/20230209/43a39abba2bd4649a04690dc5fe60971.png