PCL 点云平面分割

Almost点云

于 2022-09-13 23:17:00 发布

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分类专栏：点云学习文章标签：平面 c++ 开发语言计算机视觉 3d

本文链接：https://blog.csdn.net/m0_51204289/article/details/126812618

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该博客展示了如何在PCL（Point Cloud Library）中使用随机抽样一致性（RANSAC）算法进行点云数据的平面分割。通过创建一个简单的点云数据集并设置一些离群点，代码演示了SACSegmentation类的用法来估计平面模型，并找出对应的内点。实验结果显示成功识别出了12个平面内点。

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一、概述

PCL中点平面分割的简单使用案例

二、代码

planar_segmentation.cpp

#include <iostream>
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>

int
 main ()
{
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

  // Fill in the cloud data
  cloud->width  = 15;
  cloud->height = 1;
  cloud->points.resize (cloud->width * cloud->height);

  // Generate the data
  for (auto& point: *cloud)
  {
    point.x = 1024 * rand () / (RAND_MAX + 1.0f);
    point.y = 1024 * rand () / (RAND_MAX + 1.0f);
    point.z = 1.0;
  }

  // Set a few outliers
  (*cloud)[0].z = 2.0;
  (*cloud)[3].z = -2.0;
  (*cloud)[6].z = 4.0;

  std::cerr << "Point cloud data: " << cloud->size () << " points" << std::endl;
  for (const auto& point: *cloud)
    std::cerr << "    " << point.x << " "
                        << point.y << " "
                        << point.z << std::endl;

  pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients);
  pcl::PointIndices::Ptr inliers (new pcl::PointIndices);
  // Create the segmentation object
  pcl::SACSegmentation<pcl::PointXYZ> seg;
  // Optional
  seg.setOptimizeCoefficients (true);
  // Mandatory
  seg.setModelType (pcl::SACMODEL_PLANE);
  seg.setMethodType (pcl::SAC_RANSAC);
  seg.setDistanceThreshold (0.01);

  seg.setInputCloud (cloud);
  seg.segment (*inliers, *coefficients);

  if (inliers->indices.size () == 0)
  {
    PCL_ERROR ("Could not estimate a planar model for the given dataset.\n");
    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;
  for (const auto& idx: inliers->indices)
    std::cerr << idx << "    " << cloud->points[idx].x << " "
                               << cloud->points[idx].y << " "
                               << cloud->points[idx].z << std::endl;

  return (0);
}

三、结果

Point cloud data: 15 points
    1.28125 577.094 2
    197.938 828.125 1
    599.031 491.375 1
    358.688 917.438 -2
    842.562 764.5 1
    178.281 879.531 1
    727.531 525.844 4
    311.281 15.3438 1
    93.5938 373.188 1
    150.844 169.875 1
    1012.22 456.375 1
    121.938 4.78125 1
    9.125 386.938 1
    544.406 584.875 1
    616.188 621.719 1
Model coefficients: 0 0 1 -1
Model inliers: 12
1    197.938 828.125 1
2    599.031 491.375 1
4    842.562 764.5 1
5    178.281 879.531 1
7    311.281 15.3438 1
8    93.5938 373.188 1
9    150.844 169.875 1
10    1012.22 456.375 1
11    121.938 4.78125 1
12    9.125 386.938 1
13    544.406 584.875 1
14    616.188 621.719 1