pcl教程（五）聚类

欧式聚类：
void Cvisualization::ShowCloud4()
{

    //读入点云数据table_scene_lms400.pcd
    pcl::PCDReader reader;
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>), cloud_f (new pcl::PointCloud<pcl::PointXYZ>);
    reader.read ("E:/ai/pcltest/20210903changhuAM-0001.pcd", *cloud);
    std::cout << "PointCloud before filtering has: " << cloud->points.size () << " data points." << std::endl; //*
    //    /*从输入的.PCD文件载入数据后，我们创建了一个VoxelGrid滤波器对数据进行下采样，我们在这里进行下采样的原       因是来加速处理过程，越少的点意味着分割循环中处理起来越快。*/
    // Create the filtering object: downsample the dataset using a leaf size of 1cm
    pcl::VoxelGrid<pcl::PointXYZ> vg; //体素栅格下采样对象
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>);
    vg.setInputCloud (cloud);
    vg.setLeafSize (0.01f, 0.01f, 0.01f); //设置采样的体素大小
    vg.filter (*cloud_filtered);  //执行采样保存数据
    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;//创建分割对象
    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);  //设置对估计的模型参数进行优化处理
    seg.setModelType (pcl::SACMODEL_PLANE);//设置分割模型类别
    seg.setMethodType (pcl::SAC_RANSAC);//设置用哪个随机参数估计方法
    seg.setMaxIterations (100);  //设置最大迭代次数
    seg.setDistanceThreshold (0.02);    //设置判断是否为模型内点的距离阈值

    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
        //      /*为了处理点云中包含多个模型，我们在一个循环中执行该过程，并在每次模型被提取后，我们保存剩余的点，进行迭代。模型内点通过分割过程获取，如下*/
        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;
        }

        //移去平面局内点，提取剩余点云
        pcl::ExtractIndices<pcl::PointXYZ> extract;   //创建点云提取对象
        extract.setInputCloud (cloud_filtered);    //设置输入点云
        extract.setIndices (inliers);   //设置分割后的内点为需要提取的点集
        extract.setNegative (false); //设置提取内点而非外点
        // Get the points associated with the planar surface
        extract.filter (*cloud_plane);   //提取输出存储到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); //创建点云索引向量，用于存储实际的点云信息

    std::vector<pcl::PointIndices> cluster_indices;
    pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
    ec.setClusterTolerance (0.2); //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);
    ec.extract (cluster_indices);//从点云中提取聚类，并将点云索引保存在cluster_indices中

    //    /* 为了从点云索引向量中分割出每个聚类，必须迭代访问点云索引，每次创建一个新的点云数据集，并且将所有当前聚类的点写入到点云数据集中 */
    //迭代访问点云索引cluster_indices，直到分割出所有聚类
    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>);
        //创建新的点云数据集cloud_cluster，将所有当前聚类写入到点云数据集中
        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 << "E:/ai/pcltest/cloud_cluster_" << j << ".pcd";
        writer.write<pcl::PointXYZ> (ss.str (), *cloud_cluster, false);
        j++;
    }


    pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("HelloMyFirstVisualPCL"));

    //    pcl::visualization::PointCloudGenericField<pcl::PointXYZI>

    viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
    //viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud"); //


    //    thisT->m_mainViewer->addPointCloud(cloud, red, "area_picking" + QString::number(thisT->m_iAreaPickingIndex).toStdString());
    //    thisT->m_mainViewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "area_picking" + QString::number(thisT->m_iAreaPickingIndex).toStdString());


    while (!viewer->wasStopped())
    {
        viewer->spinOnce(100);
        boost::this_thread::sleep(boost::posix_time::microseconds(100000));
    }


}



  const static int SAC_RANSAC  = 0;
  const static int SAC_LMEDS   = 1;
  const static int SAC_MSAC    = 2;
  const static int SAC_RRANSAC = 3;
  const static int SAC_RMSAC   = 4;
  const static int SAC_MLESAC  = 5;
  const static int SAC_PROSAC  = 6;