PCL点云库学习笔记（4）：区域生长点云分割

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/segmentation/region_growing.h>
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <iostream>
#include <vector>
#include<ctime>
#include<cstdlib>
#include <pcl/filters/voxel_grid.h>
#include <pcl/visualization/pcl_visualizer.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(){
	PointCloud<PoinT>::Ptr cloud(new PointCloud<PoinT>);
	if (io::loadPCDFile("C:\\Users\\Administrator\\Desktop\\desk.pcd", *cloud) == -1){
		PCL_ERROR("read false");
	}
	//降采样****************************************************
	VoxelGrid<PoinT> vox;
	PointCloud<PoinT>::Ptr vox_cloud(new PointCloud<PoinT>);
	vox.setInputCloud(cloud);
	vox.setLeafSize(0.01, 0.01, 0.01);
	vox.filter(*vox_cloud);
	//去噪声***************************************************
	StatisticalOutlierRemoval<PoinT>sor;
	PointCloud<PoinT>::Ptr sor_cloud(new PointCloud<PoinT>);
	sor.setInputCloud(vox_cloud);
	sor.setMeanK(20);
	sor.setStddevMulThresh(0.02);
	sor.filter(*sor_cloud);
	//法向量求解**********************************************
	NormalEstimation<PoinT, Normal> ne;
	search::KdTree<PoinT>::Ptr tree(new search::KdTree<PoinT>);
	PointCloud<Normal>::Ptr normal_cloud(new PointCloud<Normal>);
	ne.setInputCloud(sor_cloud);
	ne.setKSearch(20);
	ne.setSearchMethod(tree);
	ne.compute(*normal_cloud);
	//基于法向量和曲率的区域生长算法**************************
	PointCloud<PoinT>::Ptr reg_cloud(new PointCloud<PoinT>);
	RegionGrowing<PoinT, Normal> reg;
	reg.setInputCloud(sor_cloud);
	reg.setSearchMethod(tree);
	reg.setNumberOfNeighbours(20);
	reg.setMinClusterSize(50);
	reg.setMaxClusterSize(100000);
	reg.setSmoothnessThreshold(3.0 / 180 * M_PI);
	reg.setCurvatureThreshold(1.0);
	reg.setInputNormals(normal_cloud);

	vector<PointIndices>clusters;
	reg.extract(clusters);

	visualization::PCLVisualizer::Ptr viewer(new visualization::PCLVisualizer("Result of RegionGrowing"));
	for (int iter = 0; iter < clusters.size();iter++)
	{
		PointCloud<PoinT>::Ptr copy_cloud(new PointCloud<PoinT>);
		vector<int> inlier = clusters[iter].indices;
		copyPointCloud<PoinT>(*sor_cloud, inlier, *copy_cloud);
		stringstream ss;
		ss << "C:\\Users\\Administrator\\Desktop\\" << "RegionGrowing_clouds" << iter << ".pcd";
		//io::savePCDFileASCII(ss.str(), *copy_cloud);
		int *rgb = rand_rgb();//随机生成0-255的颜色值
		visualization::PointCloudColorHandlerCustom<PoinT>rgb1(copy_cloud, rgb[0], rgb[1], rgb[2]);//提取的平面不同彩色展示
		delete[]rgb;
		viewer->addPointCloud(copy_cloud, rgb1, ss.str());
		viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 3, ss.str());
	}
	viewer->spin();

	return 0;
}

可视化结果：

利用ExtractIndices按点云索引提取点云子集

#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL)
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/segmentation/region_growing.h>
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <iostream>
#include <vector>
#include <pcl/filters/voxel_grid.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/filters/extract_indices.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(){
	PointCloud<PoinT>::Ptr cloud(new PointCloud<PoinT>);
	if (io::loadPCDFile("C:\\Users\\Administrator\\Desktop\\desk.pcd", *cloud) == -1){
		PCL_ERROR("read false");
	}
	//降采样****************************************************
	VoxelGrid<PoinT> vox;
	PointCloud<PoinT>::Ptr vox_cloud(new PointCloud<PoinT>);
	vox.setInputCloud(cloud);
	vox.setLeafSize(0.01, 0.01, 0.01);
	vox.filter(*vox_cloud);
	//去噪声***************************************************
	StatisticalOutlierRemoval<PoinT>sor;
	PointCloud<PoinT>::Ptr sor_cloud(new PointCloud<PoinT>);
	sor.setInputCloud(vox_cloud);
	sor.setMeanK(20);
	sor.setStddevMulThresh(0.02);
	sor.filter(*sor_cloud);
	//法向量求解**********************************************
	NormalEstimation<PoinT, Normal> ne;
	search::KdTree<PoinT>::Ptr tree(new search::KdTree<PoinT>);
	PointCloud<Normal>::Ptr normal_cloud(new PointCloud<Normal>);
	ne.setInputCloud(sor_cloud);
	ne.setKSearch(20);
	ne.setSearchMethod(tree);
	ne.compute(*normal_cloud);
	//基于法向量和曲率的区域生长算法**************************
	PointCloud<PoinT>::Ptr reg_cloud(new PointCloud<PoinT>);
	RegionGrowing<PoinT, Normal> reg;
	reg.setInputCloud(sor_cloud);
	reg.setSearchMethod(tree);
	reg.setNumberOfNeighbours(20);
	reg.setMinClusterSize(50);
	reg.setMaxClusterSize(100000);
	reg.setSmoothnessThreshold(3.0 / 180 * M_PI);
	reg.setCurvatureThreshold(1.0);
	reg.setInputNormals(normal_cloud);

	vector<PointIndices>clusters;
	reg.extract(clusters);
	ExtractIndices<PoinT>ext;
	visualization::PCLVisualizer::Ptr viewer(new visualization::PCLVisualizer("Result of RegionGrowing"));
	for (int iter = 0; iter < clusters.size();iter++)
	{
	//调用方式*************************************************************
		PointCloud<PoinT>::Ptr final_cloud(new PointCloud<PoinT>);
		vector<int> inlier = clusters[iter].indices;
		boost::shared_ptr<vector<int>>index = boost::make_shared<vector<int>>(inlier);
		ext.setInputCloud(sor_cloud);
		ext.setIndices(index);
		ext.setNegative(false);
		ext.filter(*final_cloud);
	//************************************************************************
		stringstream ss;
		ss << "C:\\Users\\Administrator\\Desktop\\" << "RegionGrowing_clouds" << iter << ".pcd";
		//io::savePCDFileASCII(ss.str(), *copy_cloud);
		int *rgb = rand_rgb();//随机生成0-255的颜色值
		visualization::PointCloudColorHandlerCustom<PoinT>rgb1(final_cloud, rgb[0], rgb[1], rgb[2]);//提取的平面不同彩色展示
		delete[]rgb;
		viewer->addPointCloud(final_cloud, rgb1, ss.str());
		viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 3, ss.str());
	}
	viewer->spin();

	return 0;
}

分割线----------------------------------------------------------------------------------------------------------------------------------------
获取分割的结果，并获取剩余的点云数据
代码：

#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL)
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/segmentation/region_growing.h>
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <iostream>
#include <vector>
#include <pcl/filters/voxel_grid.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/filters/extract_indices.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(){
	PointCloud<PoinT>::Ptr cloud(new PointCloud<PoinT>);
	if (io::loadPCDFile("C:\\Users\\Administrator\\Desktop\\desk.pcd", *cloud) == -1){
		PCL_ERROR("read false");
	}
	//降采样****************************************************
	VoxelGrid<PoinT> vox;
	PointCloud<PoinT>::Ptr vox_cloud(new PointCloud<PoinT>);
	vox.setInputCloud(cloud);
	vox.setLeafSize(0.01, 0.01, 0.01);
	vox.filter(*vox_cloud);
	//去噪声***************************************************
	StatisticalOutlierRemoval<PoinT>sor;
	PointCloud<PoinT>::Ptr sor_cloud(new PointCloud<PoinT>);
	sor.setInputCloud(vox_cloud);
	sor.setMeanK(20);
	sor.setStddevMulThresh(0.02);
	sor.filter(*sor_cloud);
	//法向量求解**********************************************
	NormalEstimation<PoinT, Normal> ne;
	search::KdTree<PoinT>::Ptr tree(new search::KdTree<PoinT>);
	PointCloud<Normal>::Ptr normal_cloud(new PointCloud<Normal>);
	ne.setInputCloud(sor_cloud);
	ne.setKSearch(20);
	ne.setSearchMethod(tree);
	ne.compute(*normal_cloud);
	//基于法向量和曲率的区域生长算法**************************
	PointCloud<PoinT>::Ptr reg_cloud(new PointCloud<PoinT>);
	RegionGrowing<PoinT, Normal> reg;
	reg.setInputCloud(sor_cloud);
	reg.setSearchMethod(tree);
	reg.setNumberOfNeighbours(20);
	reg.setMinClusterSize(50);
	reg.setMaxClusterSize(100000);
	reg.setSmoothnessThreshold(3.0 / 180 * M_PI);
	reg.setCurvatureThreshold(1.0);
	reg.setInputNormals(normal_cloud);

	vector<PointIndices>clusters;
	reg.extract(clusters);
	ExtractIndices<PoinT>ext;
	visualization::PCLVisualizer::Ptr viewer(new visualization::PCLVisualizer("Result of RegionGrowing"));
	vector<int>index;
	for (int iter = 0; iter < clusters.size();iter++)
	{
		//将索引汇总************************************************************************
		PointCloud<PoinT>::Ptr final_cloud(new PointCloud<PoinT>);
		vector<int> inlier = clusters[iter].indices;
		index.insert(index.end(), inlier.begin(), inlier.end());
		//提取每个索引对应得点云并展示*******************************************************
		boost::shared_ptr<vector<int>>index1 = boost::make_shared<vector<int>>(inlier);
		ext.setInputCloud(sor_cloud);
		ext.setIndices(index1);
		ext.filter(*final_cloud);
		stringstream ss;
		ss << "C:\\Users\\Administrator\\Desktop\\" << "RegionGrowing_clouds" << iter << ".pcd";
		//io::savePCDFileASCII(ss.str(), *copy_cloud);
		int *rgb = rand_rgb();//随机生成0-255的颜色值
		visualization::PointCloudColorHandlerCustom<PoinT>rgb1(final_cloud, rgb[0], rgb[1], rgb[2]);//提取的平面不同彩色展示
		delete[]rgb;
		viewer->addPointCloud(final_cloud, rgb1, ss.str());
		viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 3, ss.str());
	}
	viewer->spinOnce(1000);
	//将索引取反，获取剩余的点云数据，并展示******************************************************
	PointCloud<PoinT>::Ptr rest_cloud(new PointCloud<PoinT>);
	boost::shared_ptr<vector<int>>index_final = boost::make_shared<vector<int>>(index);
	ext.setInputCloud(sor_cloud);
	ext.setIndices(index_final);
	ext.setNegative(true);
	ext.filter(*rest_cloud);
	visualization::PCLVisualizer::Ptr viewer1(new visualization::PCLVisualizer("rest_clouds"));
	viewer1->addPointCloud(rest_cloud,"rest_clous");
	viewer1->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 3, "rest_clous");
	//io::savePCDFileASCII("C:\\Users\\Administrator\\Desktop\\rest_clouds", *rest_cloud);
	viewer1->spin();

	return 0;
}

结果：