PCL学习笔记(十七)-- ExtractIndices滤波器分割子集

一、简介

  利用ExtractIndices滤波器,可以提取出点云中的子集。

二、代码分析

  1)首先,需要对所用到的点云格式进行转换:

    pcl::PCLPointCloud2::Ptr cloud_blob(new pcl::PCLPointCloud2), cloud_filtered_blob(new pcl::PCLPointCloud2);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>), cloud_p(new pcl::PointCloud<pcl::PointXYZ>), cloud_f(new pcl::PointCloud<pcl::PointXYZ>);

  点云数据之间的区别和转换可以参照这个博主的文章:PCL学习记录-Extra-1 pcl::PCLPointCloud2::Ptr和pcl::PointCloud<pcl::PointXYZ> 点云格式区别及相互转化_HarwardWu的博客-CSDN博客

  2)接着,读取点云数据:

    pcl::PCDReader reader;
    reader.read("table_scene_lms400.pcd", *cloud_blob);
    std::cerr << "PointCloud before filtering: " << cloud_blob->width * cloud_blob->height << " data points." << std::endl;

  3)采用体素格(VoxelGrid)滤波器进行下采样:

    pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
    sor.setInputCloud(cloud_blob);
    sor.setLeafSize(0.01f, 0.01f, 0.01f);
    sor.filter(*cloud_filtered_blob);//体素滤波(下采样)后的点云放置到cloud_filtered_blob

  4)将下采样后的点云保存为模板点云,并进行保存:

    // 转化为模板点云
    pcl::fromPCLPointCloud2(*cloud_filtered_blob, *cloud_filtered);//将下采样后的点云转换为PoinCloud类型
    std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height << " data points." << std::endl;
    // 将下采样后的数据存入磁盘
    pcl::PCDWriter writer;
    writer.write<pcl::PointXYZ>("table_scene_lms400_downsampled.pcd", *cloud_filtered, false);
    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
    pcl::PointIndices::Ptr inliers(new pcl::PointIndices());  //创建一个PointIndices结构体指针

  5)创建一个分割对象:

    // 创建分割对象
    pcl::SACSegmentation<pcl::PointXYZ> seg;
    // 可选
    seg.setOptimizeCoefficients(true); //设置对估计的模型做优化处理
    // 必选
    seg.setModelType(pcl::SACMODEL_PLANE);//设置分割模型类别
    seg.setMethodType(pcl::SAC_RANSAC);//设置使用那个随机参数估计方法
    seg.setMaxIterations(1000);//迭代次数
    seg.setDistanceThreshold(0.01);//设置是否为模型内点的距离阈值

  6)创建ExtractIndices滤波器对象:

    // 创建滤波器对象
    pcl::ExtractIndices<pcl::PointXYZ> extract;
    int i = 0, nr_points = (int)cloud_filtered->points.size();
    // 当还多于30%原始点云数据时
    while (cloud_filtered->points.size() > 0.3 * nr_points)
    {
        // 从余下的点云中分割最大平面组成部分
        seg.setInputCloud(cloud_filtered);
        seg.segment(*inliers, *coefficients);
        if (inliers->indices.size() == 0)
        {
            std::cerr << "Could not estimate a planar model for the given dataset." << std::endl;
            break;
        }
        // 分离内层
        extract.setInputCloud(cloud_filtered);
        extract.setIndices(inliers);
        extract.setNegative(false);
        extract.filter(*cloud_p);
        std::cerr << "cloud_filtered: " << cloud_filtered->size() << std::endl;//输出提取之后剩余的

        std::cerr << "----------------------------------" << std::endl;
        //保存
        std::cerr << "PointCloud representing the planar component: " << cloud_p->width * cloud_p->height << " data points." << std::endl;
        std::stringstream ss;
        ss << "table_scene_lms400_plane_" << i << ".pcd"; //对每一次的提取都进行了文件保存
        writer.write<pcl::PointXYZ>(ss.str(), *cloud_p, false);
        // 创建滤波器对象
        extract.setNegative(true);//提取外层
        extract.filter(*cloud_f);//将外层的提取结果保存到cloud_f
        cloud_filtered.swap(cloud_f);//经cloud_filtered与cloud_f交换


        i++;
    }

  7)多视口显示点云结果:

    std::cerr << "cloud_filtered: " << cloud_filtered->size() << std::endl;

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_seg1(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_seg2(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_voxel(new pcl::PointCloud<pcl::PointXYZ>);

    pcl::io::loadPCDFile("table_scene_lms400_plane_0.pcd", *cloud_seg1);
    pcl::io::loadPCDFile("table_scene_lms400_plane_1.pcd", *cloud_seg2);
    pcl::io::loadPCDFile("table_scene_lms400_downsampled.pcd", *cloud_voxel);
    /*
    //将提取结果进行统计学滤波
    pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor1;
    sor1.setInputCloud(cloud_seg2);
    sor1.setMeanK(50);
    sor1.setStddevMulThresh(1);
    sor1.filter(*cloud_f);
    std::cerr<<cloud_f->size()<<std::endl;
  */

    pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer);
    viewer->initCameraParameters();

    int v1(0);
    viewer->createViewPort(0, 0, 0.25, 1, v1);
    viewer->setBackgroundColor(0, 0, 255, v1);
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color1(cloud_voxel, 244, 89, 233);
    viewer->addPointCloud(cloud_voxel, color1, "cloud_voxel", v1);

    int v2(0);
    viewer->createViewPort(0.25, 0, 0.5, 1, v2);
    viewer->setBackgroundColor(0, 255, 255, v2);
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color2(cloud_seg1, 244, 89, 233);
    viewer->addPointCloud(cloud_seg1, color2, "cloud_seg1", v2); //注意id不能一样

    int v3(0);
    viewer->createViewPort(0.5, 0, 0.75, 1, v3);
    viewer->setBackgroundColor(34, 128, 0, v3);
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color3(cloud_seg2, 244, 89, 233);
    viewer->addPointCloud(cloud_seg2, color3, "cloud_seg2", v3);

    int v4(0);
    viewer->createViewPort(0.75, 0, 1, 1, v4);
    viewer->setBackgroundColor(0, 0, 255, v4);
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color4(cloud_filtered, 244, 89, 233);
    viewer->addPointCloud(cloud_filtered, color4, "cloud_statical", v4);

    viewer->addCoordinateSystem();

    viewer->spin();

  8)整体代码如下:

#include <iostream>
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/filters/statistical_outlier_removal.h>

int main(int argc, char** argv)
{
	pcl::PCLPointCloud2::Ptr cloud_blob(new pcl::PCLPointCloud2), cloud_filtered_blob(new pcl::PCLPointCloud2);			    //定义共享指针
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>), cloud_p(new pcl::PointCloud<pcl::PointXYZ>), cloud_f(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PCDReader reader;
	reader.read("table_scene_lms400.pcd", *cloud_blob);
	std::cerr << "PointCloud before filtering:" << cloud_blob->width * cloud_blob->height << "data points." << std::endl;

	pcl::VoxelGrid<pcl::PCLPointCloud2> sor;																				//定义voxelgrid滤波器
	sor.setInputCloud(cloud_blob);
	sor.setLeafSize(0.01f, 0.01f, 0.01f);
	sor.filter(*cloud_filtered_blob);
	std::cerr << "PointCloud after filtering:" << cloud_filtered_blob->width * cloud_filtered_blob->height << "data points." << std::endl;
	pcl::fromPCLPointCloud2(*cloud_filtered_blob, *cloud_filtered);															//将点云从PointCloud2转换为PointCloudXYZ
	std::cerr << "PointCloud after modeling:" << cloud_filtered->width * cloud_filtered->height << "data points." << std::endl;
	pcl::PCDWriter writer;
	writer.write<pcl::PointXYZ>("table_scene_lms400_downsampled.pcd", *cloud_filtered, false);								//下采样后的点云保存

	pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
	pcl::PointIndices::Ptr inliers(new pcl::PointIndices());
	pcl::SACSegmentation<pcl::PointXYZ> seg;																				//实例化一个滤波器对象
	seg.setOptimizeCoefficients(true);
	seg.setModelType(pcl::SACMODEL_PLANE);																					//滤波对象的模型参数设置为平面
	seg.setMethodType(pcl::SAC_RANSAC);																						//设置使用的随即参数估计方法
	seg.setMaxIterations(1000);																								//设置迭代次数
	seg.setDistanceThreshold(0.01);																							//设置模型内点的距离阈值
	pcl::ExtractIndices<pcl::PointXYZ> extract;																				//创建一个Extract滤波器对象
	int i = 0, nr_points = (int)cloud_filtered->points.size();
	while (cloud_filtered->points.size() > 0.3 * nr_points)																	//当过滤后的点云数据大于30%的原始点云数据时
	{
		seg.setInputCloud(cloud_filtered);																					//从余下的点云中分割最大平面的组成部分
		seg.segment(*inliers, *coefficients);
		if (inliers->indices.size() == 0)
		{
			std::cerr << "Could not estimate a planar model for the given dataset." << std::endl;
			break;
		}
		extract.setInputCloud(cloud_filtered);																				//分离内层
		extract.setIndices(inliers);
		extract.setNegative(false);
		extract.filter(*cloud_p);
		std::cerr << "cloud_filtered:" << cloud_filtered->size() << std::endl;
		std::cerr << "-----------------------------------------" << std::endl;
		std::cerr << "PointCloud representing the planar compoent:" << cloud_p->width * cloud_p->height << "data points" << std::endl;
		std::stringstream ss;
		ss << "table_scene_lms400_plane_" << i << ".pcd";
		writer.write<pcl::PointXYZ>(ss.str(), *cloud_p, false);
		extract.setNegative(true);																							//提取外层
		extract.filter(*cloud_f);																							//将外层的提取结果保存到cloud_f中
		cloud_filtered.swap(cloud_f);																						//经cloud_filtered与cloud_f进行交换
		i++;
	}
	std::cerr << "cloud_filered:" << cloud_filtered->size() << std::endl;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_seg1(new pcl::PointCloud<pcl::PointXYZ>);										//新建共享指针
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_seg2(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_voxel(new pcl::PointCloud<pcl::PointXYZ>);

	pcl::io::loadPCDFile("table_scene_lms400_plane_0.pcd", *cloud_seg1);													//加载点云数据
	pcl::io::loadPCDFile("table_scene_lms400_plane_1.pcd", *cloud_seg2);
	pcl::io::loadPCDFile("table_scene_lms400_downsampled.pcd", *cloud_voxel);

	pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer);
	viewer->initCameraParameters();

	int v1(0);																												//新建视口进行显示
	viewer->createViewPort(0, 0, 0.25, 1, v1);
	viewer->setBackgroundColor(0, 0, 255, v1);
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color1(cloud_voxel, 244, 89, 233);
	viewer->addPointCloud(cloud_voxel, color1, "cloud_voxel", v1);

	int v2(0);
	viewer->createViewPort(0.25, 0, 0.5, 1, v2);
	viewer->setBackgroundColor(0, 255, 255, v2);
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color2(cloud_seg1, 244, 89, 233);
	viewer->addPointCloud(cloud_seg1, color2, "cloud_seg1", v2);

	int v3(0);
	viewer->createViewPort(0.5, 0, 0.75, 1, v3);
	viewer->setBackgroundColor(255, 0, 255, v3);
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color3(cloud_seg2, 244, 89, 233);
	viewer->addPointCloud(cloud_seg2, color3, "cloud_grid", v3);

	int v4(0);
	viewer->createViewPort(0.75, 0, 1, 1, v1);
	viewer->setBackgroundColor(255, 255, 0, v1);
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color4(cloud_filtered, 244, 89, 233);
	viewer->addPointCloud(cloud_filtered, color4, "cloud_statical", v4);

	viewer->addCoordinateSystem();
	viewer->spin();
	return(0);
}

三、编译结果

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