PCL拟合平面和球面模型

1、拟合代码

  // created RandomSampleConsensus object and compute the appropriated model
  pcl::SampleConsensusModelSphere<pcl::PointXYZ>::Ptr
    model_s(new pcl::SampleConsensusModelSphere<pcl::PointXYZ> (cloud));
  pcl::SampleConsensusModelPlane<pcl::PointXYZ>::Ptr
    model_p (new pcl::SampleConsensusModelPlane<pcl::PointXYZ> (cloud));

    pcl::RandomSampleConsensus<pcl::PointXYZ> ransac (model_p);//实例化一个随机采样对象
    ransac.setDistanceThreshold (.01);//设置拟合阈值
    ransac.computeModel();//根据模型获得内点
    ransac.getInliers(inliers);//保存内点至inliers
  // copies all inliers of the model computed to another PointCloud
  pcl::copyPointCloud<pcl::PointXYZ>(*cloud, inliers, *final);//根据inliers索引，将输入的点云cloud中的点挑选到final存放

2、全部代码

#include <iostream>
#include <pcl/console/parse.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/ransac.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/sample_consensus/sac_model_sphere.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>

//定义一个可视化函数
boost::shared_ptr<pcl::visualization::PCLVisualizer>
simpleVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud,pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud_in)
{
  // --------------------------------------------
  // -----Open 3D viewer and add point cloud-----
  // --------------------------------------------
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  int v1(0);
  int v2(0);

  viewer->createViewPort(0,0,0.5,1,v1);
  viewer->createViewPort(0.5,0,1,1,v2);
  viewer->setBackgroundColor (0, 0, 0,v1);
  viewer->setBackgroundColor(0,180,100,v2);
  viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud",v1);//显示传入的点云（结果）
  viewer->addPointCloud<pcl::PointXYZ>(cloud_in,"cloud_in",v2);
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud",v1);
  viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,3,"cloud_in",v2);

  viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,233,0,0,"cloud_in",v2);//原始点云颜色为红色
  viewer->addCoordinateSystem (1.0);
  viewer->initCameraParameters ();
  return (viewer);
}

int
main(int argc, char** argv)
{
	srand(time(NULL));
  // initialize PointClouds
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZ>::Ptr final (new pcl::PointCloud<pcl::PointXYZ>);

  // populate our PointCloud with points
  cloud->width    = 5000;
  cloud->height   = 1;
  cloud->is_dense = false;
  cloud->points.resize (cloud->width * cloud->height);
  for (size_t i = 0; i < cloud->points.size (); ++i)
  {
    if (pcl::console::find_argument (argc, argv, "-s") >= 0 || pcl::console::find_argument (argc, argv, "-sf") >= 0)
    {
      cloud->points[i].x =  rand () / (RAND_MAX + 1.0);
      cloud->points[i].y =  rand () / (RAND_MAX + 1.0);
      if (i % 5 == 0)
        cloud->points[i].z =  rand () / (RAND_MAX + 1.0);
      else if(i % 2 == 0)
        cloud->points[i].z =  sqrt( 1 - (cloud->points[i].x * cloud->points[i].x)
                                      - (cloud->points[i].y * cloud->points[i].y));
      else
        cloud->points[i].z =  - sqrt( 1 - (cloud->points[i].x * cloud->points[i].x)
                                        - (cloud->points[i].y * cloud->points[i].y));
    }
    else
    {
      cloud->points[i].x =  rand () / (RAND_MAX + 1.0);
      cloud->points[i].y =  rand () / (RAND_MAX + 1.0);
      if( i % 5 == 0)
        cloud->points[i].z = rand () / (RAND_MAX + 1.0);
      else
        cloud->points[i].z = -1 * (cloud->points[i].x + cloud->points[i].y);
    }
  }

  std::vector<int> inliers;

  // created RandomSampleConsensus object and compute the appropriated model
  pcl::SampleConsensusModelSphere<pcl::PointXYZ>::Ptr
    model_s(new pcl::SampleConsensusModelSphere<pcl::PointXYZ> (cloud));
  pcl::SampleConsensusModelPlane<pcl::PointXYZ>::Ptr
    model_p (new pcl::SampleConsensusModelPlane<pcl::PointXYZ> (cloud));
  if(pcl::console::find_argument (argc, argv, "-f") >= 0)
  {
    pcl::RandomSampleConsensus<pcl::PointXYZ> ransac (model_p);
    ransac.setDistanceThreshold (.01);
    ransac.computeModel();
    ransac.getInliers(inliers);
  }
  else if (pcl::console::find_argument (argc, argv, "-sf") >= 0 )
  {
    pcl::RandomSampleConsensus<pcl::PointXYZ> ransac (model_s);
    ransac.setDistanceThreshold (0.008);
    ransac.computeModel();
    ransac.getInliers(inliers);//返回查找到的内点
  }

  std::cout<<"cloud_in: "<<cloud->size()<<std::endl;
  std::cout<<"inlier.size: "<<inliers.size()<<std::endl;

  // copies all inliers of the model computed to another PointCloud
  pcl::copyPointCloud<pcl::PointXYZ>(*cloud, inliers, *final);//根据inliers索引，将输入的点云cloud中的点挑选到final存放

  std::cerr<<"final: "<<final->size()<<std::endl;
  // creates the visualization object and adds either our orignial cloud or all of the inliers
  // depending on the command line arguments specified.
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
  if (pcl::console::find_argument (argc, argv, "-f") >= 0 || pcl::console::find_argument (argc, argv, "-sf") >= 0)
    viewer = simpleVis(final,cloud);
  else
    viewer = simpleVis(cloud,cloud);
  while (!viewer->wasStopped ())
  {
    viewer->spinOnce (100);
    boost::this_thread::sleep (boost::posix_time::microseconds (100000));
  }
  return 0;
 }

3、实例化（左边为拟合之后的结果，右边为原始点云数据）

拟合平面模型

拟合球面模型