基于区域生长的点云分割（pcl::RegionGrowing）

 这是官方给的源码，我稍微改动了一些可视化的部分，使我的点云能够使用。

下面我进行了对自己点云的分割试验，调试了参数，但是由于理解不够等原因，结果不是特别理想。

 

#include "stdafx.h"
#include <iostream>
#include <vector>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/search/search.h>
#include <pcl/search/kdtree.h>
#include <pcl/features/normal_3d.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/filters/passthrough.h>
#include <pcl/segmentation/region_growing.h>		//分割



int

main(int argc, char** argv)

{

	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	if (pcl::io::loadPCDFile <pcl::PointXYZ>("C:\\Users\\jinzh\\Desktop\\omygod.pcd", *cloud) == -1)
	{

		std::cout << "Cloud reading failed." << std::endl;
		return (-1);
	}


	pcl::search::Search<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
	pcl::PointCloud <pcl::Normal>::Ptr normals(new pcl::PointCloud <pcl::Normal>);
	pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normal_estimator;
	normal_estimator.setSearchMethod(tree);
	normal_estimator.setInputCloud(cloud);
	normal_estimator.setKSearch(50);
	normal_estimator.compute(*normals);



	pcl::IndicesPtr indices(new std::vector <int>);
	pcl::PassThrough<pcl::PointXYZ> pass;
	pass.setInputCloud(cloud);
	pass.setFilterFieldName("z");
	pass.setFilterLimits(0.0, 1.0);
	pass.filter(*indices);



	pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> reg;
	reg.setMinClusterSize(50);		
	reg.setMaxClusterSize(1000000);		//点云集最大点数
	reg.setSearchMethod(tree);
	reg.setNumberOfNeighbours(30);		//参考邻接点个数
	reg.setInputCloud(cloud);

	//reg.setIndices (indices);

	reg.setInputNormals(normals);
	reg.setSmoothnessThreshold(3.0/ 180.0 * M_PI);		//平滑阈值
	reg.setCurvatureThreshold(1.0);		//曲率阈值



	std::vector <pcl::PointIndices> clusters;
	reg.extract(clusters);



	std::cout << "点云集的个数为： " << clusters.size() << std::endl;
	std::cout << "第一个点云集有 " << clusters[1].indices.size() << " 个点" << endl;
	std::cout << "These are the indices of the points of the initial" << std::endl << "cloud that belong to the first cluster:" << std::endl;

	int counter = 0;
	while (counter < clusters[1].indices.size())
	{
		std::cout << clusters[1].indices[counter] << ", ";
		counter++;
		if (counter % 10 == 0)
			std::cout << std::endl;
	}
	std::cout << std::endl;


	pcl::PointCloud <pcl::PointXYZRGB>::Ptr colored_cloud = reg.getColoredCloud();
	pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer("显示窗口"));  //窗口显示点云
	

	viewer->addPointCloud(colored_cloud, "*colored_cloud");
	viewer->resetCamera();		//相机点重置
	viewer->spin();



	return (0);

}

 

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