PCL Statistical Outlier Removal: Removing Noise from Point Clouds

int main (int argc, char** argv) { srand(time(0)); pcl::PointCloudpcl::PointXYZ::Ptr cloud (new pcl::PointCloudpcl::PointXYZ); pcl::PointCloudpcl::PointXYZ::Ptr cloud_filtered (new pcl::PointCloudpcl::PointXYZ);

// Read in the cloud data pcl::io::loadPCDFilepcl::PointXYZ ('input_cloud.pcd', *cloud);

// Create the filtering object pcl::StatisticalOutlierRemovalpcl::PointXYZ sor; sor.setInputCloud (cloud); sor.setMeanK (50); sor.setStddevMulThresh (1.0); sor.filter (*cloud_filtered);

// Write the filtered cloud to disk pcl::io::savePCDFilepcl::PointXYZ ('filtered_cloud.pcd', *cloud_filtered);

return 0; }