PCL提取点云的边界

#include <iostream>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/boundary.h> //边界提取
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>

using namespace std;

int
main()
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::io::loadPCDFile("d://PCD//11.pcd", *cloud);
	cout << "加载点云" << cloud->points.size() << "个" << endl;

	//------------------------计算法向量---------------------------
	pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
	n.setInputCloud(cloud);
	n.setSearchMethod(tree);
	n.setRadiusSearch(1);
	pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
	n.compute(*normals);
	//-----------------------边界特征估计--------------------------
	pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> boundEst;
	boundEst.setInputCloud(cloud);
	boundEst.setInputNormals(normals);
	boundEst.setRadiusSearch(3);
	boundEst.setAngleThreshold(M_PI / 5);//边界判断时的角度阈值

	boundEst.setSearchMethod(tree);
	pcl::PointCloud<pcl::Boundary> boundaries;
	boundEst.compute(boundaries);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_boundary(new pcl::PointCloud<pcl::PointXYZ>);
	for (int i = 0; i < cloud->points.size(); i++)
	{

		if (boundaries[i].boundary_point > 0)
		{
			cloud_boundary->push_back(cloud->points[i]);
		}
	}
	cout << "边界点个数:" << cloud_boundary->points.size() << endl;
	//pcl::io::savePCDFileASCII("YY11.pcd", *cloud_boundary);

	//-------------------------可视化-----------------------------
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("ShowCloud"));
	int v1(0);
	viewer->setWindowName("边界提取");
	viewer->createViewPort(0.0, 0.0, 0.5, 1.0, v1);
	viewer->setBackgroundColor(0, 0, 0, v1);
	viewer->addText("Raw point clouds", 10, 10, "v1_text", v1);
	int v2(0);
	viewer->createViewPort(0.5, 0.0, 1, 1.0, v2);
	viewer->setBackgroundColor(0.5, 0.5, 0.5, v2);
	viewer->addText("Boudary point clouds", 10, 10, "v2_text", v2);

	viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud", v1);
	viewer->addPointCloud<pcl::PointXYZ>(cloud_boundary, "cloud_boundary", v2);
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 0, 0, "sample cloud", v1);
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 0, 1, 0, "cloud_boundary", v2);
	//view->addCoordinateSystem(1.0);
	//view->initCameraParameters();
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

	return 0;
}