久违的小分享（2）

pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor; // 创建滤波器对象
sor.setInputCloud(cloud); // 设置需要进行去噪的点云对象
sor.setMeanK(m); // 设置 m 为在进行统计时考虑查询点邻近点数
sor.setStddevMulThresh(1.0); // 设置距离阈值，
 其公式是 mean + global stddev_mult * global stddev
sor.filter(*cloud_filtered); // 执行去噪计算并保存到 cloud_filtered

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

void main()
{
pcl::PointCloud<pcl::PointXYZ>::Ptrcloud
                          (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptrcloud_filtered
                          (new pcl::PointCloud<pcl::PointXYZ>);
pcl::io::loadPCDFile("E:\\table_scene_lms400.pcd",*cloud);
pcl::visualization::PCLVisualizerviewer1("Cloud before filtering");
viewer1.setBackgroundColor(0,0, 0);//黑色背景
pcl::visualization::PointCloudColorHandlerCustom
                          <pcl::PointXYZ>before_color(cloud, 0, 255, 0);
viewer1.addPointCloud<pcl::PointXYZ>(cloud,before_color, "before filter");
pcl::StatisticalOutlierRemoval<pcl::PointXYZ>sor;
sor.setInputCloud(cloud);
sor.setMeanK(50);//近邻点个数50
sor.setStddevMulThresh(1);
sor.filter(*cloud_filtered);
pcl::visualization::PCLVisualizerviewer2("After before filtering");
viewer2.setBackgroundColor(0,0, 0);//黑色背景

pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>
                          after_color(cloud_filtered, 255, 0, 0);
viewer2.addPointCloud<pcl::PointXYZ>
                          (cloud_filtered,after_color, "after filter");
     
while (!viewer1.wasStopped()|| !viewer2.wasStopped())
      {
             viewer1.spinOnce(1);
             viewer2.spinOnce(1);
      }
}