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。
(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)