#include <pcl/visualization/cloud_viewer.h>
#include <iostream>//标准C++库中的输入输出类相关头文件。
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>//pcd 读写类相关的头文件。
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h> //PCL中支持的点类型头文件。
#include <pcl/octree/octree.h>
#include<fstream>
#include <string>
#include <vector>
//#include <LasOperator.h>
#include <liblas/liblas.hpp>
#include <pcl/filters/passthrough.h>
#include <pcl/segmentation/region_growing.h>
#include <pcl/search/search.h>
#include <pcl/search/kdtree.h>
#include <pcl/features/normal_3d.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/radius_outlier_removal.h>
using namespace std;
void loadLasFile(string s, pcl::PointCloud<pcl::PointXYZ>& cloud) {
std::ifstream ifs(s, std::ios::in | std::ios::binary); // 打开las文件
liblas::ReaderFactory f;
liblas::Reader reader = f.CreateWithStream(ifs); // 读取las文件
liblas::Header const& header = reader.GetHeader();
cloud.width = header.GetPointRecordsCount(); //保证与las数据点的个数一致
cloud.height = 1;
cloud.is_dense = false;
cloud.points.resize(cloud.width * cloud.height);
int i = 0;
float minx, maxx, miny, maxy;
minx = maxx = miny = maxy = 0;
minx = miny = 10000;
maxx = maxy = -10000;
while (reader.ReadNextPoint()) {
liblas::Point const& p = reader.GetPoint();
// 获取las数据的x,y,z信息
cloud.points[i].x = (p.GetX());
cloud.points[i].y = (p.GetY());
cloud.points[i].z = (p.GetZ());
if (p.GetX() < minx)
minx = p.GetX();
if (p.GetX() > maxx)
maxx = p.GetX();
if (p.GetY() < miny)
miny = p.GetY();
if (p.GetY() > maxy)
maxy = p.GetY();
i++;
}
float dx = maxx - minx;
float dy = maxy - miny;
cout << "x range: " << minx << "\t" << maxx << "\t" << dx << endl;
cout << "y range: " << miny << "\t" << maxy << "\t" << dy << endl;
float area = dx * dy;
cout << header.GetPointRecordsCount() << endl;
cout << "点密度" << header.GetPointRecordsCount() / area << endl;
ifs.close();
}
void saveLasFile(string s, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud) {
cout << cloud->points.size() << endl;
std::ofstream ofs(s, ios::out | ios::binary);
liblas::Header header;
header.SetScale(0.0001, 0.0001, 0.0001);
header.SetPointRecordsCount(cloud->points.size());
// fill other header members
// here the header has been serialized to disk into the *file.las*
liblas::Writer writer(ofs, header);
liblas::Point point(&header);
// fill other properties of point record
for (int i = 0;i < cloud->points.size();++i) {
point.SetCoordinates(cloud->points[i].x, cloud->points[i].y, cloud->points[i].z);
writer.WritePoint(point);
}
writer.SetHeader(header);
ofs.flush();
ofs.close();
}
float computeRange(pcl::PointCloud<pcl::PointXYZ>& trail, float r, int index, int k) {
float x1, y1, x2, y2, a1, a2, a3, b1, b2, b3;//向量1,a,b为轨迹线上2点
//x2 = 0; y2 = 1;
x2 = 1; y2 = 0;
a1 = trail.points[index].x;
a2 = trail.points[index].y;
a3 = trail.points[index].z;
b1 = trail.points[index + k].x;
b2 = trail.points[index + k].y;
b3 = trail.points[index + k].z;
x1 = a1 - b1;
y1 = a2 - b2;
float cosa = (x1 * x2 + y1 * y2) / (sqrt(x1 * x1 + y1 * y1) * sqrt(x2 * x2 + y2 * y2));
float sina = sqrt(1 - cosa * cosa);
float range = r / sina;
//float radian = acos(cosa);//弧度
//float angle = radian * 180.0 / M_PI;
//if (angle > 90)
// angle = 180 - angle;
//cout << "angle: " << angle << "\t";
return range;
}
int computeK(pcl::PointCloud<pcl::PointXYZ>::Ptr trail, int begin) {
float d;
for (int i = begin;i < trail->points.size();++i) {
d = abs(trail->points[i].y - trail->points[begin].y);
if (d > 0.3) {
cout << "k为: " << i - begin << "y距离" << trail->points[i].y - trail->points[begin].y << endl;
return i - begin;
}
}
return -1;
}
int main() {
//输入点云,轨迹线,保存种子
pcl::PointCloud<pcl::PointXYZ>::Ptr input_cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr trail(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr midle(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr midle_filtered(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr result(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr tempCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointXYZ tempPnt;
std::vector<int>idx;
std::vector<int>midle_idx;
//变量
float r = 13; //o1,使用+ 2.5,5,10偏小,5刚好,10覆盖
int k = 6;//20
//读取输入点云
cout << "读取点云" << endl;
loadLasFile("o3.las", *input_cloud);
//pcl::io::loadPCDFile("o.pcd", *input_cloud);
//读取轨迹线
cout << "读取轨迹线" << endl;
//pcl::io::loadPCDFile("trail1.pcd", *trail);
loadLasFile("trail3.las", *trail);
cout << "原始点数: " << input_cloud->width << " \t" << "轨迹线点数: " << trail->width << endl;
//cloud构建八叉树
cout << "构建八叉树" << endl;
float resolution = 128.0f;
pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(resolution);
octree.setInputCloud(input_cloud);
octree.addPointsFromInputCloud();
cout << "构建完成" << endl;
/**
切割宽于路面部分
*/
k = computeK(trail, 0);
cout << "切割宽于路面部分" << endl;
for (size_t i = 0;i + k < trail->points.size(); ) {
//for (size_t i = 0;i + k < 10000;) {
cout << "-------------------------------------------------------------" << endl;
float range = computeRange(*trail, r, i, k);
//float range = 10000;
float center = trail->points[i].x;
float Ymin = min(trail->points[i].y, trail->points[i + k].y);
float Ymax = max(trail->points[i].y, trail->points[i + k].y);
float Zmin = -10;
float Zmax = max(trail->points[i].z, trail->points[i + k].z+3);
cout << "range: " << range << endl;
//分段切割种子点
Eigen::Vector3f Emin(center - range, Ymin, Zmin);//0xc0c0c0c0 0x3f3f3f3f
Eigen::Vector3f Emax(center + range, Ymax, Zmax);
octree.boxSearch(Emin, Emax, idx);
cout << i << "\t这段种子数:\t" << idx.size() << endl;
midle_idx.insert(midle_idx.end(), idx.begin(), idx.end());
//分段left
Eigen::Vector3f Emin1(-10000, Ymin, Zmin);//0xc0c0c0c0 0x3f3f3f3f
Eigen::Vector3f Emax1(center - range, Ymax, 10000);
octree.boxSearch(Emin1, Emax1, idx);
cout << i << "\t这段种子数:\t" << idx.size() << endl;
midle_idx.insert(midle_idx.end(), idx.begin(), idx.end());
//分段right
Eigen::Vector3f Emin2(center+range, Ymin, Zmin);//0xc0c0c0c0 0x3f3f3f3f
Eigen::Vector3f Emax2(10000, Ymax, 10000);
octree.boxSearch(Emin2, Emax2, idx);
cout << i << "\t这段种子数:\t" << idx.size() << endl;
midle_idx.insert(midle_idx.end(), idx.begin(), idx.end());
i += k;
k = computeK(trail, i + k);
}
cout << "出来了" << endl;
//提取midle
boost::shared_ptr<std::vector<int>> midle_ptr = boost::make_shared<std::vector<int>>(midle_idx);
pcl::ExtractIndices<pcl::PointXYZ> extract;
extract.setInputCloud(input_cloud);
extract.setIndices(midle_ptr);
extract.setNegative(false);//如果设为true,可以提取指定index之外的点云
extract.filter(*midle);
saveLasFile("o3_new.las", midle);
cout << "保存midle.las成功" << endl;
return 0;
}
切除道路上方高架
最新推荐文章于 2021-10-27 11:16:04 发布