2021-10-10

2024-02-05 12:54:16

（第六章点云滤波）使用StatisticalOutlierRemoval滤波器移除离群点

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/statistical_outlier_removal.h>
using namespace std;
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>);
	// 填入点云数据
	pcl::PCDReader reader;//定义读取对象
	// 把路径改为自己存放文件的路径
	reader.read<pcl::PointXYZ>("C:\\Users\\oh_clm\\Desktop\\点云库PCL从入门到精通\\第六章\\3 statistical_removal\\source\\table_scene_lms400.pcd", *cloud);//读取点云文件
	std::cerr << "Cloud before filtering: " << std::endl;
	std::cerr << *cloud << std::endl;

	pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor;	// 创建滤波器对象
	sor.setInputCloud(cloud);//设置呆滤波的点云
	sor.setMeanK(50);//设置在进行统计时考虑查询点邻近点数个数为50
	sor.setStddevMulThresh(1.0);//设置判断是否为离群点的阈值，将标准差倍数设为1，
	sor.filter(*cloud_filtered);//执行滤波处理保存内点到cloud_filtered
	std::cerr << "Cloud after filtering: " << std::endl;
	std::cerr << *cloud_filtered << std::endl;

	//剩下的数据存入磁盘
	pcl::PCDWriter writer;
	writer.write<pcl::PointXYZ>("C:\\Users\\oh_clm\\Desktop\\点云库PCL从入门到精通\\第六章\\3 statistical_removal\\source\\table_scene_lms400_inliers.pcd", *cloud_filtered, false);

	//使用同样的参数再次调用该滤波器，获取离群点
	sor.setNegative(true);
	sor.filter(*cloud_filtered);

	writer.write<pcl::PointXYZ>("C:\\Users\\oh_clm\\Desktop\\点云库PCL从入门到精通\\第六章\\3 statistical_removal\\source\\table_scene_lms400_outliers.pcd", *cloud_filtered, false);
	return (0);
}

出现错误没有解决：

D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(80,10): error C2332: “class”: 缺少标记名
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(80,10): error C3306: “pcl::”: 不允许存在未命名的类模板
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(90,30): error C2065: “StatisticalOutlierRemoval”: 未声明的标识符
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(181): message : 查看对正在编译的类模板实例化“pcl::”的引用
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(90,19): error C2974: ‘std::shared_ptr’ : 模板对于 '_Ty’是无效参数，应为类型
1>D:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Tools\MSVC\14.29.30037\include\memory(1504): message : 参见“std::shared_ptr”的声明
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(90,64): error C2143: 语法错误: 缺少“;”(在“>”的前面)
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(90,64): error C2059: 语法错误:“>”
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(90,1): error C2238: 意外的标记位于“;”之前
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(91,1): error C4430: 缺少类型说明符 - 假定为 int。注意: C++ 不支持默认 int
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(91,41): error C2146: 语法错误: 缺少“>”(在标识符“StatisticalOutlierRemoval”的前面)
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(91,1): error C2947: 应由“>”终止模板参数列表，却找到“<”
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(91,67): error C2146: 语法错误: 缺少“;”(在标识符“PointT”的前面)
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(91,73): error C2059: 语法错误:“>”
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(91,1): error C2238: 意外的标记位于“;”之前
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(97,1): error C2590: “StatisticalOutlierRemoval”: 只有构造函数可以有基/成员初始值列表
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(193,46): error C3856: “StatisticalOutlierRemoval”: 符号不是模板类
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(193,52): error C2143: 语法错误: 缺少“;”(在“pcl::PCLPointCloud2”的前面)
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(193,3): error C2913: 显式专用化；“pcl::StatisticalOutlierRemoval”不是类模板的专用化
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(193,66): error C2059: 语法错误:“>”
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(193,70): error C2059: 语法错误:“public”
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(194,3): error C2143: 语法错误: 缺少“;”(在“{”的前面)
1>D:\Program Files (x86)\PCL 1.12.0\include\pcl-1.12\pcl\filters\statistical_outlier_removal.h(194,3): error C2447: “{”: 缺少函数标题(是否是老式的形式表?)
1>D:\PCL\example\source\repos\pcl_test\pcl_test\源.cpp(20,48): error C2079: “sor”使用未定义的 class“pcl::StatisticalOutlierRemoval”

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