PCL ExtractIndices提取点云

19年8月18号更新：经过后面的学习，相对比（与基于对应点分类的对象识别等相比）这个还是比较简单的，结合后面的分割部分程序，豁然开朗，详见https://blog.csdn.net/suyunzzz/article/details/99694977中的二、三。

 

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 （具体函数流程还不太懂，看完分割再回来看）

#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);
  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<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

  std::cerr<<cloud_filtered_blob->width*cloud_filtered_blob->height<<std::endl;

  // 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
  // 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
  // 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++;
  }

  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();

  return (0);
}

可视化：（从左到右依次为 原数据、提取一个平面、提取第二个平面、剩余数据）