PCL 平面、圆柱 模型分割

直接从pcl 官网把代码粘过来进行解释pcl代码地址

#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/passthrough.h>
#include <pcl/features/normal_3d.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>

typedef pcl::PointXYZ PointT;

int main (int argc, char** argv)
{
  // All the objects needed
  pcl::PCDReader reader;
  pcl::PassThrough<PointT> pass;
  pcl::NormalEstimation<PointT, pcl::Normal> ne;
  pcl::SACSegmentationFromNormals<PointT, pcl::Normal> seg; 
  pcl::PCDWriter writer;
  pcl::ExtractIndices<PointT> extract;
  pcl::ExtractIndices<pcl::Normal> extract_normals;
  pcl::search::KdTree<PointT>::Ptr tree (new pcl::search::KdTree<PointT> ());

  // Datasets
  pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT>);
  pcl::PointCloud<PointT>::Ptr cloud_filtered (new pcl::PointCloud<PointT>);
  pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
  pcl::PointCloud<PointT>::Ptr cloud_filtered2 (new pcl::PointCloud<PointT>);
  pcl::PointCloud<pcl::Normal>::Ptr cloud_normals2 (new pcl::PointCloud<pcl::Normal>);
  pcl::ModelCoefficients::Ptr coefficients_plane (new pcl::ModelCoefficients), coefficients_cylinder (new pcl::ModelCoefficients);
  pcl::PointIndices::Ptr inliers_plane (new pcl::PointIndices), inliers_cylinder (new pcl::PointIndices);

  // Read in the cloud data
  reader.read ("table_scene_mug_stereo_textured.pcd", *cloud);
  std::cerr << "PointCloud has: " << cloud->points.size () << " data points." << std::endl;
	
	///根据Z轴“直通滤波”过滤图像///
  // Build a passthrough filter to remove spurious NaNs
  pass.setInputCloud (cloud);
  pass.setFilterFieldName ("z");
  pass.setFilterLimits (0, 1.5);
  pass.filter (*cloud_filtered);
  cerr << "PointCloud after filtering has: " << cloud_filtered->points.size () << " data points." << endl;

//估计点的法线，50为一组/
  // Estimate point normals
  ne.setSearchMethod (tree);
  ne.setInputCloud (cloud_filtered);
  ne.setKSearch (50);
  ne.compute (*cloud_normals);

///分割平面///
  // Create the segmentation object for the planar model and set all the parameters
  seg.setOptimizeCoefficients (true);
  seg.setModelType (pcl::SACMODEL_NORMAL_PLANE);
  seg.setNormalDistanceWeight (0.1);		
  seg.setMethodType (pcl::SAC_RANSAC);
  seg.setMaxIterations (100);
  seg.setDistanceThreshold (0.03);
  seg.setInputCloud (cloud_filtered);
  seg.setInputNormals (cloud_normals);
 
 / 根据上面的输入参数执行分割获取平面模型系数和处在平面上的内点
  // Obtain the plane inliers and coefficients
  seg.segment (*inliers_plane, *coefficients_plane);
  std::cerr << "Plane coefficients: " << *coefficients_plane << std::endl;

/ 利用extract提取平面
  // Extract the planar inliers from the input cloud
  pcl::PointCloud<PointT>::Ptr cloud_plane (new pcl::PointCloud<PointT> ());
  extract.setInputCloud (cloud_filtered);		 //设置输入点云
  extract.setIndices (inliers_plane);				//设置分割后的内点为需要提取的点集
  extract.setNegative (false);						//设置提取内点而非外点
  extract.filter (*cloud_plane);						//提取输出存储到cloud_plane

//存储分割得到的平面上的点到点云文件/
  // Write the planar inliers to disk
  pcl::PointCloud<PointT>::Ptr cloud_plane (new pcl::PointCloud<PointT> ());
  std::cerr << "PointCloud representing the planar component: " << cloud_plane->points.size () << " data points." << std::endl;
  writer.write ("table_scene_mug_stereo_textured_plane.pcd", *cloud_plane, false);

//把平面去掉，提取剩下的///
  // Remove the planar inliers, extract the rest
  extract.setNegative (true);							//设置提取外点
  extract.filter (*cloud_filtered2);					//提取输出存储到cloud_filtered2
  extract_normals.setNegative (true);
  extract_normals.setInputCloud (cloud_normals);
  extract_normals.setIndices (inliers_plane);
  extract_normals.filter (*cloud_normals2);

//开始找圆柱///
  // Create the segmentation object for cylinder segmentation and set all the parameters
	seg.setOptimizeCoefficients(true);        					 		//设置对估计的模型系数需要进行优化
	seg.setModelType(pcl::SACMODEL_CYLINDER); 		//设置分割模型为圆柱型
	seg.setMethodType(pcl::SAC_RANSAC);      				//设置采用RANSAC作为算法的参数估计方法
	seg.setNormalDistanceWeight(0.1);         						//设置表面法线权重系数
	seg.setMaxIterations(10000);              							//设置迭代的最大次数10000
	seg.setDistanceThreshold(0.05);           							//设置内点到模型的距离允许最大值
	seg.setRadiusLimits(0, 0.1);              								//设置估计出的圆柱模型的半径范围
	seg.setInputCloud(cloud_filtered2);
	seg.setInputNormals(cloud_normals2);

//获得圆柱层和内点///
  // Obtain the cylinder inliers and coefficients
  seg.segment (*inliers_cylinder, *coefficients_cylinder);
  std::cerr << "Cylinder coefficients: " << *coefficients_cylinder << std::endl;

//存储分割得到的平面上的点到点云文件///
  // Write the cylinder inliers to disk
  extract.setInputCloud (cloud_filtered2);
  extract.setIndices (inliers_cylinder);
  extract.setNegative (false);
  pcl::PointCloud<PointT>::Ptr cloud_cylinder (new pcl::PointCloud<PointT> ());
  extract.filter (*cloud_cylinder);
  if (cloud_cylinder->points.empty ()) 
    std::cerr << "Can't find the cylindrical component." << std::endl;
  else
  {
	  std::cerr << "PointCloud representing the cylindrical component: " << cloud_cylinder->points.size () << " data points." << std::endl;
	  writer.write ("table_scene_mug_stereo_textured_cylinder.pcd", *cloud_cylinder, false);
  }
  return (0);
}

先后提取平面 水杯

点云图像参数