PCL：点云分割-欧式聚类分割

#include <pcl/ModelCoefficients.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree.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/visualization/pcl_visualizer.h>
#pragma comment(lib,"User32.lib")
#pragma comment(lib, "gdi32.lib")
int color_bar[][3] =
{
	{ 255,0,0 },
	{ 0,255,0 },
	{ 0,0,255 },
	{ 0,255,255 },
	{ 255,255,0 },
	{ 255,255,255 },
	{ 255,0,255 }
};


int
main(int argc, char** argv)
{
	// Read in the cloud data
	pcl::PCDReader reader;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>), cloud_f(new pcl::PointCloud<pcl::PointXYZ>);
	reader.read("table_scene_lms400.pcd", *cloud);
	std::cout << "PointCloud before filtering has: " << cloud->points.size() << " data points." << std::endl; //*

																											  // Create the filtering object: downsample the dataset using a leaf size of 1cm
	pcl::VoxelGrid<pcl::PointXYZ> vg;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);
	vg.setInputCloud(cloud);
	vg.setLeafSize(0.01f, 0.01f, 0.01f);
	vg.filter(*cloud_filtered);
	std::cout << "PointCloud after filtering has: " << cloud_filtered->points.size() << " data points." << std::endl; //*

																													  // Create the segmentation object for the planar model and set all the parameters
	pcl::SACSegmentation<pcl::PointXYZ> seg;
	pcl::PointIndices::Ptr inliers(new pcl::PointIndices);
	pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_plane(new pcl::PointCloud<pcl::PointXYZ>());
	pcl::PCDWriter writer;
	seg.setOptimizeCoefficients(true);
	seg.setModelType(pcl::SACMODEL_PLANE);
	seg.setMethodType(pcl::SAC_RANSAC);
	seg.setMaxIterations(100);
	seg.setDistanceThreshold(0.02);

	int i = 0, nr_points = (int)cloud_filtered->points.size();
	while (cloud_filtered->points.size() > 0.3 * nr_points)
	{
		// Segment the largest planar component from the remaining cloud
		seg.setInputCloud(cloud_filtered);
		seg.segment(*inliers, *coefficients);
		if (inliers->indices.size() == 0)
		{
			std::cout << "Could not estimate a planar model for the given dataset." << std::endl;
			break;
		}

		// Extract the planar inliers from the input cloud
		pcl::ExtractIndices<pcl::PointXYZ> extract;
		extract.setInputCloud(cloud_filtered);
		extract.setIndices(inliers);
		extract.setNegative(false);

		// Write the planar inliers to disk
		extract.filter(*cloud_plane);
		std::cout << "PointCloud representing the planar component: " << cloud_plane->points.size() << " data points." << std::endl;

		// Remove the planar inliers, extract the rest
		extract.setNegative(true);
		extract.filter(*cloud_f);
		cloud_filtered = cloud_f;
	}

	// Creating the KdTree object for the search method of the extraction
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
	tree->setInputCloud(cloud_filtered);

	std::vector<pcl::PointIndices> cluster_indices;
	pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
	ec.setClusterTolerance(0.02); //设置近邻搜索的搜索半径为2cm
	ec.setMinClusterSize(100);    //设置一个聚类需要的最少点数目为100
	ec.setMaxClusterSize(25000);  //设置一个聚类需要的最大点数目为25000
	ec.setSearchMethod(tree);     //设置点云的搜索机制
	ec.setInputCloud(cloud_filtered); //设置原始点云 
	ec.extract(cluster_indices);  //从点云中提取聚类

								  // 可视化部分
	pcl::visualization::PCLVisualizer viewer("segmention");
	// 我们将要使用的颜色
	float bckgr_gray_level = 0.0;  // 黑色
	float txt_gray_lvl = 1.0 - bckgr_gray_level;
	int num = cluster_indices.size();

	int j = 0;
	for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin(); it != cluster_indices.end(); ++it)
	{
		pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_cluster(new pcl::PointCloud<pcl::PointXYZ>);
		for (std::vector<int>::const_iterator pit = it->indices.begin(); pit != it->indices.end(); pit++)
			cloud_cluster->points.push_back(cloud_filtered->points[*pit]); //*
		cloud_cluster->width = cloud_cluster->points.size();
		cloud_cluster->height = 1;
		cloud_cluster->is_dense = true;

		std::cout << "PointCloud representing the Cluster: " << cloud_cluster->points.size() << " data points." << std::endl;
		std::stringstream ss;
		ss << "cloud_cluster_" << j << ".pcd";
		writer.write<pcl::PointXYZ>(ss.str(), *cloud_cluster, false); //*

		pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> cloud_in_color_h(cloud,
			color_bar[j][0],
			color_bar[j][1],
			color_bar[j][2]);//赋予显示点云的颜色
		viewer.addPointCloud(cloud_cluster, cloud_in_color_h, std::to_string(j));

		j++;
	}

	//等待直到可视化窗口关闭。
	while (!viewer.wasStopped())
	{
		viewer.spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

	return (0);
}