00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: filter_statistical_outlier_removal.cpp 35519 2011-01-26 07:54:53Z rusu $ 00035 * 00036 */ 00037 00046 #include "pcl/io/pcd_io.h" 00047 #include "pcl/point_types.h" 00048 00049 #include "pcl/filters/statistical_outlier_removal.h" 00050 00051 /* ---[ */ 00052 int 00053 main (int argc, char** argv) 00054 { 00055 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ()), cloud_filtered (new pcl::PointCloud<pcl::PointXYZ> ()); 00056 00057 // Fill in the cloud data 00058 pcl::PCDReader reader; 00059 reader.read<pcl::PointXYZ> ("data/table_scene_lms400.pcd", *cloud); 00060 00061 std::cerr << "Cloud before filtering: " << std::endl; 00062 std::cerr << *cloud << std::endl; 00063 00064 // Create the filtering object 00065 pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor; 00066 sor.setInputCloud (cloud); 00067 sor.setMeanK (50); 00068 sor.setStddevMulThresh (1.0); 00069 sor.filter (*cloud_filtered); 00070 00071 std::cerr << "Cloud after filtering: " << std::endl; 00072 std::cerr << *cloud_filtered << std::endl; 00073 00074 pcl::PCDWriter writer; 00075 writer.write<pcl::PointXYZ> ("table_scene_lms400_inliers.pcd", *cloud_filtered, false); 00076 00077 sor.setNegative (true); 00078 sor.filter (*cloud_filtered); 00079 writer.write<pcl::PointXYZ> ("table_scene_lms400_outliers.pcd", *cloud_filtered, false); 00080 00081 return (0); 00082 } 00083 /* ]--- */