1、使用ExtractIndices滤波器,可以提取出点云中的子集。
2、代码:
using PclSharp;
using PclSharp.Common;
using PclSharp.Filters;
using PclSharp.Helpers;
using PclSharp.IO;
using PclSharp.SampleConsensus;
using PclSharp.Segmentation;
using PclSharp.Std;
using PclSharp.Struct;
using System;
using System.Numerics;
using System.Text;
namespace PclSharpTest
{
class Program
{
static void Main(string[] args)
{
Console.WriteLine($"C#--PclSharp算法库测试:");
//读取点云文件
var inCloud = new PointCloudOfXYZ();
using (var reader = new PCDReader())
reader.Read(AppDomain.CurrentDomain.BaseDirectory + $"//pcd//table.pcd", inCloud);
Console.WriteLine($"PointCloud before filtering:{inCloud.Count}data points");
//采用体素化滤波进行下采样:
PointCloudOfXYZ cloud_filtered = new PointCloudOfXYZ();//滤波后的点云
PointXYZ voxelpointXYZ = new PointXYZ { X = 0.01f, Y = 0.01f, Z = 0.01f };
using (var sor = new PclSharp.Filters.VoxelGridOfXYZ())
{
sor.SetInputCloud(inCloud);
sor.LeafSize = voxelpointXYZ;//体素点的大小
sor.filter(cloud_filtered);
}
//保存下采样后点云
using (var reader = new PCDWriter())
{
reader.Write($"{AppDomain.CurrentDomain.BaseDirectory}pcd\\downsampled.pcd", cloud_filtered, false);
}
// 创建分割对象
var seg = new SACSegmentationOfXYZ();
seg.OptimizeCoefficients = true;//设置对估计的模型做优化处理
seg.ModelType = SACModel.Plane;//设置分割的是平面
seg.MethodType = SACMethod.RANSAC;//设置使用那个随机参数估计方法
seg.MaxIterations = 1000;//迭代次数
seg.DistanceThreshold = 0.01;// 需要调的参数,表示离平面多少距离范围内的点会被分到平面上,值越大越有可能将平面上别的物体错误划分到平面上。
var cloud_p= new PointCloudOfXYZ();
var cloud_f = new PointCloudOfXYZ();
var coefficients = new ModelCoefficients();
var inliers = new PointIndices();
var extract = new ExtractIndicesOfXYZ();
int i = 0;
int nr_points = cloud_filtered.Count;
while (cloud_filtered.Count > 0.3 * nr_points)
{
seg.SetInputCloud(cloud_filtered);
//存储分割结果到点集合inliers及存储平面模型的系数coefficients
seg.Segment(inliers, coefficients);
if (inliers.Indices.Count == 0)
{
Console.WriteLine("Could not estimate a planar model for the given dataset." );
break;
}
extract.SetInputCloud(cloud_filtered);
extract.SetIndices(inliers.Indices);
extract.Negative = false;
extract.filter(cloud_p);
Console.WriteLine($"cloud_filtered:{cloud_filtered.Count}" );
Console.WriteLine("-----------------------------------------" );
Console.WriteLine($"PointCloud representing the planar compoent: {cloud_p.Count} data points");
//保存点云
StringBuilder sb = new StringBuilder();
sb.Append($"{AppDomain.CurrentDomain.BaseDirectory}pcd\\");
sb.Append($"plane_{i}" + ".pcd");
using (var reader = new PCDWriter())
{
reader.Write(sb.ToString(), cloud_p, false);
}
extract.Negative=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++;
}
var cloud_seg1 = new PointCloudOfXYZ();
var cloud_seg2 = new PointCloudOfXYZ();
var cloud_voxel = new PointCloudOfXYZ();
using (var reader = new PCDReader())
reader.Read(AppDomain.CurrentDomain.BaseDirectory + $"//pcd//plane_0.pcd", cloud_seg1);
using (var reader = new PCDReader())
reader.Read(AppDomain.CurrentDomain.BaseDirectory + $"//pcd//plane_1.pcd", cloud_seg2);
using (var reader = new PCDReader())
reader.Read(AppDomain.CurrentDomain.BaseDirectory + $"//pcd//downsampled.pcd", cloud_voxel);
using (var visualizer = new PclSharp.Vis.Visualizer(" visual window"))
{
//创建两个观察视点
int v1 = 0;
int v2 = 1;
int v3 = 2;
int v4 = 3;
visualizer.CreateViewPort(0.0, 0.0, 0.25, 1.0, v1);
visualizer.CreateViewPort(0.25, 0.0, 0.5, 1.0, v2);
visualizer.CreateViewPort(0.5, 0.0, 0.75, 1.0, v3);
visualizer.CreateViewPort(0.75, 0.0, 1.0, 1.0, v4);
//设置背景色
visualizer.SetBackgroundColor_ViewPort(0f,0f,0f,v1);
visualizer.SetBackgroundColor_ViewPort(0.05f, 0f, 0f,v2);
//添加点云
//visualizer.AddPointCloud(cloud_filtered, "v1", v1);
visualizer.AddPointCloud(cloud_seg1, "v1", v1);
visualizer.AddPointCloud(cloud_seg2, "v2", v2);
visualizer.AddPointCloud(cloud_filtered, "v3", v3);
visualizer.AddPointCloud(cloud_voxel, "v4", v4);
visualizer.SetPointCloudColor(1, 1, 0.5, "v1");//点云附色
visualizer.SetPointCloudColor(1, 0.5, 1, "v2");//点云附色
visualizer.SetPointCloudColor(1, 1, 0.5, "v3");//点云附色
visualizer.SetPointCloudColor(1, 0.5, 1, "v4");//点云附色
while (!visualizer.WasStopped)
visualizer.SpinOnce(100);
}
Console.ReadKey();
}
}
}
3、编译结果