从一个点云中提取索引

最新推荐文章于 2023-11-21 11:39:57 发布

君韬养晦

最新推荐文章于 2023-11-21 11:39:57 发布

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分类专栏： PCL点云处理文章标签： pcl 滤波 ExtractIndices

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附课本代码：

#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>
int
main (int argc, char** argv)
{
  sensor_msgs::PointCloud2::Ptr cloud_blob (new sensor_msgs::PointCloud2), cloud_filtered_blob (new sensor_msgs::PointCloud2);
  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>);
  // 填入点云数据
  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;
  // 创建滤波器对象:使用叶大小为1cm的下采样
  pcl::VoxelGrid<sensor_msgs::PointCloud2> sor;
  sor.setInputCloud (cloud_blob);
  sor.setLeafSize (0.01f, 0.01f, 0.01f);
  sor.filter (*cloud_filtered_blob);
  // 转化为模板点云
  pcl::fromROSMsg (*cloud_filtered_blob, *cloud_filtered);
  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 ());
  // 创建分割对象
  pcl::SACSegmentation<pcl::PointXYZ> seg;
  // 可选
  seg.setOptimizeCoefficients (true);
  // 必选
  seg.setModelType (pcl::SACMODEL_PLANE);
  seg.setMethodType (pcl::SAC_RANSAC);
  seg.setMaxIterations (1000);
  seg.setDistanceThreshold (0.01);


  // 创建滤波器对象
  pcl::ExtractIndices<pcl::PointXYZ> extract;
  int i = 0, nr_points = (int) cloud_filtered->points.size ();
  // 当还有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 << "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";
    writer.write<pcl::PointXYZ> (ss.str (), *cloud_p, false);
    // 创建滤波器对象
    extract.setNegative (true);
    extract.filter (*cloud_f);
    cloud_filtered.swap (cloud_f);
    i++;
  }
  return (0);
}

相关对象函数说明：

1、pcl::PointIndices

This is the complete list of members for pcl::PointIndices, including all inherited members.

ConstPtr typedef	pcl::PointIndices
header	pcl::PointIndices
indices	pcl::PointIndices
PointIndices()	pcl::PointIndices
Ptr typedef	pcl::PointIndices

2、SACSegmentation对象

（1）

void pcl::SACSegmentation<PointT >::setOptimizeCoefficients ( bool optimize )

Set to true if a coefficient refinement is required.//设置对估计的模型参数进行优化处理

Parameters:

[in] optimize true for enabling model coefficient refinement, false otherwise

（2）

void pcl::SACSegmentation<PointT >::setModelType ( int model )

The type of model to use (user given parameter).

Parameters:

[in] model the model type

（3）

void pcl::SACSegmentation<PointT >::setMethodType ( int method )

The type of sample consensus method to use (user given parameter).

Parameters:

[in] method the method type


    * SAC_RANSAC - RANdom SAmple Consensus
    * SAC_LMEDS - Least Median of Squares
    * SAC_MSAC - M-Estimator SAmple Consensus
    * SAC_RRANSAC - Randomized RANSAC
    * SAC_RMSAC - Randomized MSAC
    * SAC_MLESAC - Maximum LikeLihood Estimation SAmple Consensus
    * SAC_PROSAC - PROgressive SAmple Consensus

（4）
 
 void pcl::SACSegmentation< PointT
 >::setMaxIterations ( int  max_iterations )
Set the maximum number of iterations before giving up. 

 
 
  
  Parameters:
 
 
 
 
  
  [in] max_iterations the maximum number of iterations the sample consensus method will run   （5）
 
 
 
 
  
  void pcl::SACSegmentation< PointT
 >::setDistanceThreshold ( double  threshold )
  
  Distance to the model threshold (user given parameter). //设置判断是否为模型内点的距离阈值
 
 
 
 
  
  Parameters:
 
 
 
 
  
  [in] threshold the distance threshold to use 
  
  （6）
 
 
 
 
  
  virtual void pcl::PCLBase< PointT
 >::setInputCloud ( const PointCloudConstPtr &  cloud )
  
  
  
  Provide a pointer to the input dataset. 
  
  
   
   
    
    Parameters:
   
   
   
   
    
    cloud the const boost shared pointer to a PointCloud message  
   
   
  
  
 
 
 
 
  
  （7）

  
  void pcl::SACSegmentation< PointT
 >::segment ( PointIndices &  inliers,
    ModelCoefficients
 &  model_coefficients 
  )
  
  
  
  Base method for segmentation of a model in a PointCloud given by <setInputCloud (), setIndices ()> 
  
  
   
   
    
    Parameters:
   
   
   
   
    
    [in] inliers the resultant point indices that support the model found (inliers)
[out] model_coefficients the resultant model coefficients 
   
   
  
  3、ExtractIndices滤波器对象
 
 
 
 
  
  extracts a set of indices from a point cloud.
 
 
 
 
  
  （1）

  
  void pcl::PCLBase< sensor_msgs::PointCloud2
 >::setIndices ( const PointIndicesConstPtr &  indices )
  
  Provide a pointer to the vector of indices that represents the input data. 
 
 
 
 
  
  Parameters:
 
 
 
 
  
  indices a pointer to the vector of indices that represents the input data.  
  
  （2）
  
  
   
   void pcl::PCLBase< sensor_msgs::PointCloud2 >::setInputCloud ( const PointCloud2ConstPtr &  cloud )  
  
  
  
  
   
   Provide a pointer to the input dataset. 
   
   Parameters:
  
  
 
 
 
 
  
  cloud the const boost shared pointer to a PointCloud message
  
  
  （3）
 
 
 
 
  
  void pcl::FilterIndices< sensor_msgs::PointCloud2
 >::setNegative ( bool  negative )
  
  Set whether the regular conditions for points filtering should apply, or the inverted conditions. 
  
  
 
 
 
 
  
  Parameters:
 
 
 
 
  
  [in] negative false = normal filter behavior (default), true = inverted behavior.
   （4）
  
  
  
  
  
  virtual void pcl::FilterIndices< sensor_msgs::PointCloud2 >::filter ( PointCloud2
 &  output )
  
  
  
  Calls the filtering method and returns the filtered dataset in output. 
  
  void pcl::FilterIndices< sensor_msgs::PointCloud2
 >::filter ( std::vector< int > &  indices )  
  
  Calls the filtering method and returns the filtered point cloud indices.