转载地址： http://blog.csdn.net/lming_08/article/details/20778351
K-Means算法简介
K-Means算法是一种常用的聚类算法，因其思想简单、容易实现而收到广泛的运用。其思想大概是从要聚类的样本中选取K个样本，然后遍历所有样本，对每个样本计算其与K个样本间的距离(可以为欧氏距离或余弦距离)，然后将其类别归为距离最小的样本所属类别，这样的话，所有样本就都找到各自所属的类别；然后分别重新计算K个类别中样本的质心；之后返回第一步继续迭代执行，如此直到K个类别中样本的质心不再移动或移动的非常小。整个过程往往要不了几次就达到收敛。
基于PCL库对三维空间点的K-Means聚类算法的实现
在三维点云处理中我们经常要对点云进行聚类分割处理，如建筑物与地面、桌面与水杯等的分割，以便于我们可以在后续三维重建中得到更好的效果。这时比较好的聚类方法有欧式聚类和K-Means聚类。这里简要地介绍下基于PCL库对三维空间点的K-Means聚类算法的实现。
相关头文件common.h中部分内容
- //笛卡尔坐标系中三维点坐标
- typedef struct st_pointxyz
- {
- float x;
- float y;
- float z;
- }st_pointxyz;
- typedef struct st_point
- {
- st_pointxyz pnt;
- int groupID;
- st_point()
- {
- }
- st_point(st_pointxyz &p, int id)
- {
- pnt = p;
- groupID = id;
- }
- }st_point;
- class KMeans
- {
- public:
- int m_k;
- typedef std::vector<st_point> VecPoint_t;
- VecPoint_t mv_pntcloud; //要聚类的点云
- std::vector<VecPoint_t> m_grp_pntcloud; //K类，每一类存储若干点
- std::vector<st_pointxyz> mv_center; //每个类的中心
- KMeans()
- {
- m_k = 0;
- }
- inline void SetK(int k_)
- {
- m_k = k_;
- m_grp_pntcloud.resize(m_k);
- }
- //设置输入点云
- bool SetInputCloud(PointCloud<PointXYZ>::Ptr pPntCloud);
- //初始化最初的K个类的中心
- bool InitKCenter(st_pointxyz pc_arr[]);
- //聚类
- bool Cluster();
- //更新K类的中心
- bool UpdateGroupCenter(std::vector<VecPoint_t> &grp_pntcloud, std::vector<st_pointxyz> ¢er);
- //计算两个点间的欧氏距离
- double DistBetweenPoints(st_pointxyz &p1, st_pointxyz &p2);
- //是否存在中心点移动
- bool ExistCenterShift(std::vector<st_pointxyz> &prev_center, std::vector<st_pointxyz> &cur_center);
- //将聚类的点分别存到各自的pcd文件中
- bool SaveFile(const char *prex_name);
- //将聚类的点分别存到各自的pcd文件中
- bool SaveFile(const char *dir_name, const char *prex_name);
- };
实现文件kmeans.cpp中内容为：
- #include "common.h"
- const float DIST_NEAR_ZERO = 0.001;
- extern char szFileName[256];
- bool KMeans::InitKCenter(st_pointxyz pnt_arr[])
- {
- if (m_k == 0)
- {
- PCL_ERROR("在此之前必须要调用setK()函数\n");
- return false;
- }
- mv_center.resize(m_k);
- for (size_t i = 0; i < m_k; ++i)
- {
- mv_center[i] = pnt_arr[i];
- }
- return true;
- }
- bool KMeans::SetInputCloud(PointCloud<PointXYZ>::Ptr pPntCloud)
- {
- size_t pntCount = (size_t)pPntCloud->points.size();
- //mv_pntcloud.resize(pntCount);
- for (size_t i = 0; i < pntCount; ++i)
- {
- st_point point;
- point.pnt.x = pPntCloud->points[i].x;
- point.pnt.y = pPntCloud->points[i].y;
- point.pnt.z = pPntCloud->points[i].z;
- point.groupID = 0;
- mv_pntcloud.push_back(point);
- }
- return true;
- }
- bool KMeans::Cluster()
- {
- std::vector<st_pointxyz> v_center(mv_center.size());
- do
- {
- for (size_t i = 0, pntCount = mv_pntcloud.size(); i < pntCount; ++i)
- {
- double min_dist = DBL_MAX;
- int pnt_grp = 0;
- for (size_t j = 0; j < m_k; ++j)
- {
- double dist = DistBetweenPoints(mv_pntcloud[i].pnt, mv_center[j]);
- if (min_dist - dist > 0.000001)
- {
- min_dist = dist;
- pnt_grp = j;
- }
- }
- m_grp_pntcloud[pnt_grp].push_back(st_point(mv_pntcloud[i].pnt, pnt_grp));
- }
- //保存上一次迭代的中心点
- for (size_t i = 0; i < mv_center.size(); ++i)
- {
- v_center[i] = mv_center[i];
- }
- if (!UpdateGroupCenter(m_grp_pntcloud, mv_center))
- {
- return false;
- }
- if ( !ExistCenterShift(v_center, mv_center))
- {
- break;
- }
- for (size_t i = 0; i < m_k; ++i){
- m_grp_pntcloud[i].clear();
- }
- }while(true);
- return true;
- }
- double KMeans::DistBetweenPoints(st_pointxyz &p1, st_pointxyz &p2)
- {
- double dist = 0;
- double x_diff = 0, y_diff = 0, z_diff = 0;
- x_diff = p1.x - p2.x;
- y_diff = p1.y - p2.y;
- z_diff = p1.z - p2.z;
- dist = sqrt(x_diff * x_diff + y_diff * y_diff + z_diff * z_diff);
- return dist;
- }
- bool KMeans::UpdateGroupCenter(std::vector<VecPoint_t> &grp_pntcloud, std::vector<st_pointxyz> ¢er)
- {
- if (center.size() != m_k)
- {
- PCL_ERROR("类别的个数不为K\n");
- return false;
- }
- for (size_t i = 0; i < m_k; ++i)
- {
- float x = 0, y = 0, z = 0;
- size_t pnt_num_in_grp = grp_pntcloud[i].size();
- for (size_t j = 0; j < pnt_num_in_grp; ++j)
- {
- x += grp_pntcloud[i][j].pnt.x;
- y += grp_pntcloud[i][j].pnt.y;
- z += grp_pntcloud[i][j].pnt.z;
- }
- x /= pnt_num_in_grp;
- y /= pnt_num_in_grp;
- z /= pnt_num_in_grp;
- center[i].x = x;
- center[i].y = y;
- center[i].z = z;
- }
- return true;
- }
- //是否存在中心点移动
- bool KMeans::ExistCenterShift(std::vector<st_pointxyz> &prev_center, std::vector<st_pointxyz> &cur_center)
- {
- for (size_t i = 0; i < m_k; ++i)
- {
- double dist = DistBetweenPoints(prev_center[i], cur_center[i]);
- if (dist > DIST_NEAR_ZERO)
- {
- return true;
- }
- }
- return false;
- }
- //将聚类的点分别存到各自的pcd文件中
- bool KMeans::SaveFile(const char *prex_name)
- {
- for (size_t i = 0; i < m_k; ++i)
- {
- pcl::PointCloud<pcl::PointXYZ>::Ptr p_pnt_cloud(new pcl::PointCloud<pcl::PointXYZ> ());
- for (size_t j = 0, grp_pnt_count = m_grp_pntcloud[i].size(); j < grp_pnt_count; ++j)
- {
- pcl::PointXYZ pt;
- pt.x = m_grp_pntcloud[i][j].pnt.x;
- pt.y = m_grp_pntcloud[i][j].pnt.y;
- pt.z = m_grp_pntcloud[i][j].pnt.z;
- p_pnt_cloud->points.push_back(pt);
- }
- p_pnt_cloud->width = (int)m_grp_pntcloud[i].size();
- p_pnt_cloud->height = 1;
- char newFileName[256] = {0};
- char indexStr[16] = {0};
- strcat(newFileName, szFileName);
- strcat(newFileName, "-");
- strcat(newFileName, prex_name);
- strcat(newFileName, "-");
- sprintf(indexStr, "%d", i + 1);
- strcat(newFileName, indexStr);
- strcat(newFileName, ".pcd");
- savePCDFileASCII(newFileName, *p_pnt_cloud);
- }
- return true;
- }
- bool KMeans::SaveFile(const char *dir_name, const char *prex_name)
- {
- for (size_t i = 0; i < m_k; ++i)
- {
- pcl::PointCloud<pcl::PointXYZ>::Ptr p_pnt_cloud(new pcl::PointCloud<pcl::PointXYZ> ());
- for (size_t j = 0, grp_pnt_count = m_grp_pntcloud[i].size(); j < grp_pnt_count; ++j)
- {
- pcl::PointXYZ pt;
- pt.x = m_grp_pntcloud[i][j].pnt.x;
- pt.y = m_grp_pntcloud[i][j].pnt.y;
- pt.z = m_grp_pntcloud[i][j].pnt.z;
- p_pnt_cloud->points.push_back(pt);
- }
- p_pnt_cloud->width = (int)m_grp_pntcloud[i].size();
- p_pnt_cloud->height = 1;
- char newFileName[256] = {0};
- char indexStr[16] = {0};
- strcat(newFileName, dir_name);
- strcat(newFileName, "/");
- strcat(newFileName, prex_name);
- strcat(newFileName, "-");
- sprintf(indexStr, "%d", i + 1);
- strcat(newFileName, indexStr);
- strcat(newFileName, ".pcd");
- savePCDFileASCII(newFileName, *p_pnt_cloud);
- }
- return true;
- }
构造一个以(0, 0, 0)为球心，半径为2的球体；一个左下角坐标为(2.5, 2.5, 2.5)，棱长为2的正方体；一个圆心为(1, 1, -3)，半径为1的圆。然后初始类的中心分别为上述三个体的中心，并执行K-Means聚类算法，将聚类后的点云数据分别保存到对应的文件中。代码如下：
- void test_kmeans_manual_consdata()
- {
- //构造球体
- float radius = 2;
- for (float r = 0; r < radius; r += 0.1)
- {
- for (float angle1 = 0.0; angle1 <= 180.0; angle1 += 5.0)
- {
- for (float angle2 = 0.0; angle2 <= 360.0; angle2 += 5.0)
- {
- pcl::PointXYZ basic_point;
- basic_point.x = radius * sinf(pcl::deg2rad(angle1)) * cosf(pcl::deg2rad(angle2));
- basic_point.y = radius * sinf(pcl::deg2rad(angle1)) * sinf(pcl::deg2rad(angle2));
- basic_point.z = radius * cosf(pcl::deg2rad(angle1));
- cloud->points.push_back(basic_point);
- }
- }
- }
- //构造立方体
- float cube_len = 2;
- for (float x = 0; x < cube_len; x += 0.1)
- {
- for (float y = 0; y < cube_len; y += 0.1)
- {
- for (float z = 0; z < cube_len; z += 0.1)
- {
- pcl::PointXYZ basic_point;
- //沿着向量(2.5, 2.5, 2.5)平移
- basic_point.x = x + 2.5;
- basic_point.y = y + 2.5;
- basic_point.z = z + 2.5;
- cloud->points.push_back(basic_point);
- }
- }
- }
- //构造圆形平面
- float R = 1;
- for (float radius = 0; radius < R; radius += 0.05)
- {
- for (float r = 0; r < radius; r += 0.05)
- {
- for (float ang = 0; ang <= 360.0; ang += 5.0)
- {
- pcl::PointXYZ basic_point;
- basic_point.x = radius * sinf(pcl::deg2rad(ang)) +3;
- basic_point.y = radius * cosf(pcl::deg2rad(ang)) + 3;
- basic_point.z = -3;
- cloud->points.push_back(basic_point);
- }
- }
- }
- cloud->width = (int)cloud->points.size();
- cloud->height = 1;
- //开始KMeans聚类
- KMeans kmeans;
- st_pointxyz center_arr[3] = {
- {0, 0, 0},
- {2.5, 2.5, 2.5},
- {3, 3, -3}
- };
- kmeans.SetInputCloud(cloud);
- kmeans.SetK(3);
- kmeans.InitKCenter(center_arr);
- kmeans.Cluster();
- kmeans.SaveFile(".", "k3");
- }
可以看到聚类效果还是不错的。
但是以上实现的K-Means聚类算法有时候效果就不是很好，例如，将上述圆的位置移到圆心为(1, 1, -3)处时，得到的效果却是这样的：
在这几天在工作中也碰到了K-Means聚类效果不太好的情况，点云为某教学楼前的一个环形路面，聚类之前的空间三维点分布情况如图所示：
选取K = 10后，聚类后的效果如下所示：
可以看到效果与期望值相差的有些离谱。
从以上两个例子中可以看到效果不太好的原因就是期望的一类A所形成的体积较大，且A类边缘点到中心的距离较大，如果其中A类的旁边(距离较近)存在另一类B且B类的体积较小，那么期望的一类A将会被分割，造成效果不好。
总之，对于具体的数据，我们要选取恰当的方法来聚类。
文章参考于：http://www.cnblogs.com/jerrylead/archive/2011/04/06/2006910.html
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