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#include <iostream>
#include <pcl/point_types.h>
#include <pcl/filters/radius_outlier_removal.h>
int
main ()
{
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
cloud->width = 5;
cloud->height = 1;
cloud->points.resize (cloud->width * cloud->height);
for (auto& point: *cloud)
{
point.x = 1024 * rand () / (RAND_MAX + 1.0f);
point.y = 1024 * rand () / (RAND_MAX + 1.0f);
point.z = 1024 * rand () / (RAND_MAX + 1.0f);
}
std::cerr << "Cloud before filtering: " << std::endl;
for (const auto& point: *cloud)
std::cerr << " " << point.x << " "
<< point.y << " "
<< point.z << std::endl;
// build the filter
pcl::RadiusOutlierRemoval<pcl::PointXYZ> outrem;
outrem.setInputCloud(cloud);
outrem.setRadiusSearch(0.8);
outrem.setMinNeighborsInRadius (2);
// apply filter
outrem.filter (*cloud_filtered);
// display pointcloud after filtering
std::cerr << "Cloud after filtering: " << std::endl;
for (const auto& point: *cloud_filtered)
std::cerr << " " << point.x << " "
<< point.y << " "
<< point.z << std::endl;
return (0);
}
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