通过Extracting indices滤波器,从点云数据中提取出来一个子集。
来源:官方文档:https://pcl.readthedocs.io/projects/tutorials/en/latest/extract_indices.html#extract-indices
一.使用Extracting indices 滤波器,并通过某一分割算法,从点云中提取出来一个点云子集
二.使用Extracting indices 滤波器时,进行分割+取样(后续使用到这个方法时,再添加细节内容,先放上代码)
#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>
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>);
// step1:加载点云PCD文件
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;
// Step2: 创建体素网格对象,并设置网格大小为1cm
pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
sor.setInputCloud (cloud_blob);
sor.setLeafSize (0.01f, 0.01f, 0.01f);
sor.filter (*cloud_filtered_blob);
// Step3: 将降采样后的点云类型转化为标准点云类型
pcl::fromPCLPointCloud2 (*cloud_filtered_blob, *cloud_filtered);
std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height << " data points." << std::endl;
// Write the downsampled version to disk
pcl::PCDWriter writer;
writer.write<pcl::PointXYZ> ("table_scene_lms400_downsampled.pcd", *cloud_filtered, false);
/**********************************************************************************************************
以上过程为:从输入的.PCD 文件载入数据后,创建一个VOxelGrid滤波器对数据进行下采样,在这里进行下才样是为了加速处理过程,
越少的点意味着分割循环中处理起来越快
**********************************************************************************************************/
pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
pcl::PointIndices::Ptr inliers (new pcl::PointIndices ());
// Create the segmentation object
pcl::SACSegmentation<pcl::PointXYZ> seg; //创建分割对象
// Optional
seg.setOptimizeCoefficients (true); //设置对估计模型参数进行优化处理
// Mandatory
seg.setModelType (pcl::SACMODEL_PLANE); //设置分割模型类别
seg.setMethodType (pcl::SAC_RANSAC); //设置用哪个随机参数估计方法
seg.setMaxIterations (1000); //设置最大迭代次数
seg.setDistanceThreshold (0.01); //判断是否为模型内点的距离阀值
// Create the filtering object
pcl::ExtractIndices<pcl::PointXYZ> extract; //创建点云提取对象
int i = 0, nr_points = (int) cloud_filtered->size ();
// While 30% of the original cloud is still there
// 为了处理点云包含的多个模型,在一个循环中执行该过程并在每次模型被提取后,保存剩余的点进行迭代
while (cloud_filtered->size () > 0.3 * nr_points)
{
// Segment the largest planar component from the remaining cloud
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;
}
// Extract the inliers
extract.setInputCloud (cloud_filtered);
extract.setIndices (inliers);
extract.setNegative (false);
extract.filter (*cloud_p);
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";
writer.write<pcl::PointXYZ> (ss.str (), *cloud_p, false);
// Create the filtering object
extract.setNegative (true);
extract.filter (*cloud_f);
cloud_filtered.swap (cloud_f);
i++;
}
return (0);
}