python-pcl installation and examples

Reference github link: https://github.com/strawlab/python-pcl/blob/master/appveyor.yml

1. Installation in Ubuntu16.04

sudo apt install libpcl-dev -y pip install python-pcl

2. statistical outlier filter: using a recursive function

# -*- coding: utf-8 -*- # port of # http://pointclouds.org/documentation/tutorials/statistical_outlier.php # you need to download # http://svn.pointclouds.org/data/tutorials/table_scene_lms400.pcd import pcl def sta_filter(p_cloud, neg_p_cloud, ponit_num, p_totalnum): if ponit_num > int(0.75*p_totalnum): print('filtering...') fil = p_cloud.make_statistical_outlier_filter() fil.set_mean_k(ponit_num) fil.set_std_dev_mul_thresh(1.0) new_p_cloud = fil.filter() new_p_num = new_p_cloud.size fil.set_negative(True) neg_p_cloud = fil.filter() sta_filter(new_p_cloud, neg_p_cloud, new_p_num, p_totalnum) else: pcl.save(p_cloud, "./pcldata/tutorials/test_1_inliers.pcd") pcl.save(neg_p_cloud, "./pcldata/tutorials/test_1_outliers.pcd") if __name__ == "__main__": pcdfile = './pcldata/tutorials/test_1.pcd' p_cloud = pcl.load(pcdfile) ponit_num = p_cloud.size p_totalnum = ponit_num sta_filter(p_cloud, p_cloud, ponit_num, p_totalnum)