PCL点云分割(一) ：平面分割及源代码

平面分割源代码

#include<pcl/visualization/cloud_viewer.h>
#include<iostream>
#include<pcl/io/io.h>
#include<pcl/io/pcd_io.h>
#include<pcl/io/ply_io.h>
#include<pcl/point_types.h>
//滤波头文件
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/conditional_removal.h>
#include <pcl/filters/voxel_grid.h>
//分割头文件
#include <pcl/ModelCoefficients.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/filters/extract_indices.h>

int user_data;
using std::cout;


void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) {
	viewer.setBackgroundColor(1.0, 0.5, 1.0);
}

int main()
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ> cloud_2;
	/*pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2());
	pcl::PCLPointCloud2::Ptr cloud_2(new pcl::PCLPointCloud2());
	*/
	pcl::PointCloud<pcl::PointXYZ>::Ptr
		cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);

	char strfilepath[256] = "house.pcd";
	//char strfilepath[256] = "..\Clouds\my_cloud2.pcd";

	if (-1 == pcl::io::loadPCDFile(strfilepath, *cloud)) {
		cout << "error input!" << endl;
		return -1;
	}
	//	pcl::fromPCLPointCloud2(*cloud, *cloud_filtered);

	pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
	pcl::PointIndices::Ptr inliers(new pcl::PointIndices);
	//创建分割对象
	pcl::SACSegmentation<pcl::PointXYZ> seg;
	//可选设置
	seg.setOptimizeCoefficients(true);
	//必须设置

	seg.setModelType(pcl::SACMODEL_PLANE);//平面模型
	seg.setMethodType(pcl::SAC_RANSAC);//迭代方式
	seg.setDistanceThreshold(0.1);	//模型内外点阈值
	seg.setInputCloud(cloud);
	seg.segment(*inliers, *coefficients);//执行分割操作，分割结果的点云的索引存储在inliers中

	if (inliers->indices.size() == 0)
	{
		PCL_ERROR("Could not estimate a planar model for the given dataset.");
		return (-1);
	}
	std::cerr << "Model coefficients: " << coefficients->values[0] << " "
		<< coefficients->values[1] << " "
		<< coefficients->values[2] << " "
		<< coefficients->values[3] << std::endl;
	std::cerr << "Model inliers: " << inliers->indices.size() << std::endl;


	//分割indices
	pcl::ExtractIndices<pcl::PointXYZ> extract;
	extract.setInputCloud(cloud);
	extract.setIndices(inliers);
	extract.setNegative(false);

	// Write the planar inliers to disk
	extract.filter(*cloud_filtered);

	pcl::io::savePLYFile("Y2.ply", *cloud_filtered);  //保存文件
	return 0;
}

实验结果