PCL点云库学习笔记（2）：点云平面分割（RANSAC）

初学者笔记：

点云数据链接：
链接：https://pan.baidu.com/s/1VTVxn3BntbAr9tGHv6L-HA
提取码：u81q

代码：

#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL)
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/extract_indices.h>
#include<ctime>
#include<cstdlib>
#include <windows.h>

using namespace pcl;
using namespace std;
typedef PointXYZ PoinT;

int *rand_rgb(){//随机产生颜色
	int *rgb = new int[3];	
	rgb[0] = rand() % 255;
	rgb[1] = rand() % 255;
	rgb[2] = rand() % 255;
	return rgb;
}
int main(){
	//点云的读取*********************************************************
	PointCloud<PoinT>::Ptr cloud(new PointCloud<PoinT>);
	if (io::loadPCDFile("C:\\Users\\Administrator\\Desktop\\desk.pcd", *cloud) == -1)
	{
		PCL_ERROR("read false");
		return 0;
	}
		//去除噪声点********************************************************
		StatisticalOutlierRemoval<PoinT>sor;
		PointCloud<PoinT>::Ptr sor_cloud(new PointCloud<PoinT>);
		sor.setMeanK(10);
		sor.setInputCloud(cloud);
		sor.setStddevMulThresh(0.2);
		sor.filter(*sor_cloud);
		cout << sor_cloud->size() << endl;
		//平面分割(RANSAC)********************************************************
		SACSegmentation<PoinT> sac;
		PointIndices::Ptr inliner(new PointIndices);
		ModelCoefficients::Ptr coefficients(new ModelCoefficients);
		PointCloud<PoinT>::Ptr sac_cloud(new PointCloud<PoinT>);
		sac.setInputCloud(sor_cloud);
		sac.setMethodType(SAC_RANSAC);
		sac.setModelType(SACMODEL_PLANE);
		sac.setMaxIterations(100);
		sac.setDistanceThreshold(0.01);
		//提取平面(展示并输出)******************************************************
		PointCloud<PoinT>::Ptr ext_cloud(new PointCloud<PoinT>);
		PointCloud<PoinT>::Ptr ext_cloud_rest(new PointCloud<PoinT>);
		visualization::PCLVisualizer::Ptr viewer(new visualization::PCLVisualizer("3d view"));

		int i = sor_cloud->size(), j = 0;
		ExtractIndices<PoinT>ext;
		srand((unsigned)time(NULL));//刷新时间的种子节点需要放在循环体外面
		while (sor_cloud->size() > i*0.0)//当提取的点数小于总数的3/10时，跳出循环
		{
			ext.setInputCloud(sor_cloud);
			sac.segment(*inliner, *coefficients);
			if (inliner->indices.size() == 0)
			{
				break;
			}
			//按照索引提取点云*************
			ext.setIndices(inliner);
			ext.setNegative(false);
			ext.filter(*ext_cloud);
			ext.setNegative(true);
			ext.filter(*ext_cloud_rest);
			//*****************************
			*sor_cloud = *ext_cloud_rest;
			stringstream ss;
			ss << "C:\\Users\\Administrator\\Desktop\\" << "ext_plane_clouds" << j << ".pcd";//路径加文件名和后缀
			io::savePCDFileASCII(ss.str(), *ext_cloud);//提取的平面点云写出
			int *rgb = rand_rgb();//随机生成0-255的颜色值
			visualization::PointCloudColorHandlerCustom<PoinT>rgb1(ext_cloud, rgb[0], rgb[1], rgb[2]);//提取的平面不同彩色展示
			delete[]rgb;
			viewer->addPointCloud(ext_cloud, rgb1, ss.str());
			j++;
		}
		viewer->spin();
		return 0;
	}

可视化结果：

编译中遇到的问题：
error C4996: ‘pcl::SAC_SAMPLE_SIZE’:
解决方法：
将中间三行代码注释掉