pcl - removing outliers using StatisticalOutlierRemoval filter

這是我的input

目標是去除掉圈起來這些渣渣

程式碼來源:

pcl - Removing outliers using a StatisticalOutlierRemoval filter

---

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

int
main(int argc, char** argv)
{
 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>("input_hand.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(100);
 sor.setStddevMulThresh(0.5);
 sor.filter(*cloud_filtered);

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

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

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

 return (0);
}

---

結果:

有把渣渣分離出來