#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>
int
main (int argc, char** argv)
{
//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 ("table_scene_lms400.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 (0.02); //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);
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 << "cloud_cluster_" << j << ".pcd";
writer.write<pcl::PointXYZ> (ss.str (), *cloud_cluster, false); //*
j++;
}
return (0);
}
版权声明:本文为博主原创文章,遵循 CC 4.0 BY-SA 版权协议,转载请附上原文出处链接和本声明。
本文链接:https://blog.csdn.net/HERO_CJN/article/details/80172028
————————————————
版权声明:本文为CSDN博主「cjn_」的原创文章,遵循 CC 4.0 BY-SA 版权协议,转载请附上原文出处链接及本声明。
原文链接:https://blog.csdn.net/HERO_CJN/article/details/80172028