PCL：点云分割-平面模型分割

#include <iostream>
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>   //随机参数估计方法头文件
#include <pcl/sample_consensus/model_types.h>   //模型定义头文件
#include <pcl/segmentation/sac_segmentation.h>   //基于采样一致性分割的类的头文件

int
main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

	// 填充点云
	cloud->width = 15;
	cloud->height = 1;
	cloud->points.resize(cloud->width * cloud->height);

	// 生成数据，采用随机数填充点云的x,y坐标，都处于z为1的平面上
	for (size_t i = 0; i < cloud->points.size(); ++i)
	{
		cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud->points[i].z = 1.0;
	}

	// 设置几个局外点，即重新设置几个点的z值，使其偏离z为1的平面
	cloud->points[0].z = 2.0;
	cloud->points[3].z = -2.0;
	cloud->points[6].z = 4.0;

	std::cerr << "Point cloud data: " << cloud->points.size() << " points" << std::endl;  //打印
	for (size_t i = 0; i < cloud->points.size(); ++i)
		std::cerr << "    " << cloud->points[i].x << " "
		<< cloud->points[i].y << " "
		<< cloud->points[i].z << std::endl;
	//创建分割时所需要的模型系数对象，coefficients及存储内点的点索引集合对象inliers
	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;
	// 可选择配置，设置模型系数需要优化
	seg.setOptimizeCoefficients(true);
	// 必要的配置，设置分割的模型类型，所用的随机参数估计方法，距离阀值，输入点云
	seg.setModelType(pcl::SACMODEL_PLANE);   //设置模型类型
	seg.setMethodType(pcl::SAC_RANSAC);      //设置随机采样一致性方法类型
	seg.setDistanceThreshold(0.01);          //设定距离阀值，距离阀值决定了点被认为是局内点是必须满足的条件，表示点到估计模型的距离最大值，

	seg.setInputCloud(cloud);
	//引发分割实现，存储分割结果到点几何inliers及存储平面模型的系数coefficients
	seg.segment(*inliers, *coefficients);

	if (inliers->indices.size() == 0)
	{
		PCL_ERROR("Could not estimate a planar model for the given dataset.");
		return (-1);
	}

	//打印出平面模型系数 Ax+By+Cz+D=0
	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 (size_t i = 0; i < inliers->indices.size(); ++i)
		std::cerr << inliers->indices[i] << "    " << cloud->points[inliers->indices[i]].x << " "
		<< cloud->points[inliers->indices[i]].y << " "
		<< cloud->points[inliers->indices[i]].z << std::endl;

	system("pause");
	return (0);
}