学习笔记1：2020/9/21-2020/9/26

1.基于PCL的三维重建—随机采样一致性算法（RANSAC）

#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>

boost::shared_ptr<pcl::visualization::PCLVisualizer>
simpleVis(pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
	// --------------------------------------------
	// -----Open 3D viewer and add point cloud-----
	// --------------------------------------------
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer"));
	viewer->setBackgroundColor(0, 0, 0);
	viewer->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
	//viewer->addCoordinateSystem (1.0, "global");
	viewer->initCameraParameters();
	return (viewer);
}
/******************************************************************************************************************
对点云进行初始化，并对其中一个点云填充点云数据作为处理前的的原始点云，其中大部分点云数据是基于设定的圆球和平面模型计算
而得到的坐标值作为局内点，有1/5的点云数据是被随机放置的组委局外点。
*****************************************************************************************************************/
int
main(int argc, char** argv)
{
	// 初始化点云对象
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);  //存储源点云
	pcl::PointCloud<pcl::PointXYZ>::Ptr final(new pcl::PointCloud<pcl::PointXYZ>);   //存储提取的局内点

	// 填充点云数据
	cloud->width = 500;                   //填充点云数目
	cloud->height = 1;                     //无序点云
	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)
		{
			//根据命令行参数用x^2+y^2+Z^2=1设置一部分点云数据，此时点云组成1/4个球体作为内点
			cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0);
			cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0);
			if (i % 5 == 0)
				cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0);   //此处对应的点为局外点
			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
		{ //用x+y+z=1设置一部分点云数据，此时地拿云组成的菱形平面作为内点
			cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0);
			cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0);
			if (i % 2 == 0)
				cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0);   //对应的局外点
			else
				cloud->points[i].z = -1 * (cloud->points[i].x + cloud->points[i].y);
		}
	}

	std::vector<int> inliers;  //存储局内点集合的点的索引的向量

	//创建随机采样一致性对象
	pcl::SampleConsensusModelSphere<pcl::PointXYZ>::Ptr
		model_s(new pcl::SampleConsensusModelSphere<pcl::PointXYZ>(cloud));    //针对球模型的对象
	pcl::SampleConsensusModelPlane<pcl::PointXYZ>::Ptr
		model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZ>(cloud));   //针对平面模型的对象
	if (pcl::console::find_argument(argc, argv, "-f") >= 0)
	{  //根据命令行参数，来随机估算对应平面模型，并存储估计的局内点
		pcl::RandomSampleConsensus<pcl::PointXYZ> ransac(model_p);
		ransac.setDistanceThreshold(.01);    //与平面距离小于0.01 的点称为局内点考虑
		ransac.computeModel();                   //执行随机参数估计
		ransac.getInliers(inliers);                 //存储估计所得的局内点
	}
	else if (pcl::console::find_argument(argc, argv, "-sf") >= 0)
	{
		//根据命令行参数  来随机估算对应的圆球模型，存储估计的内点
		pcl::RandomSampleConsensus<pcl::PointXYZ> ransac(model_s);
		ransac.setDistanceThreshold(.01);
		ransac.computeModel();
		ransac.getInliers(inliers);
	}

	// 复制估算模型的所有的局内点到final中
	pcl::copyPointCloud<pcl::PointXYZ>(*cloud, inliers, *final);

	// 创建可视化对象并加入原始点云或者所有的局内点

	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);
	else
		viewer = simpleVis(cloud);
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}
	return 0;
}

代码运行演示：

2.区域生长算法 、投影的算法 、Concave Hull 提取外轮廓

#include <pcl/surface/convex_hull.h>
#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>

int main()
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	//pcl::io::loadPCDFile<pcl::PointXYZ>("H:\\02_Zhoy_procedure\\Company\\ZhoyTest\\data\\pcd\\756.400983000.pcd", *cloud);
	pcl::io::loadPCDFile<pcl::PointXYZ>("H:\\02_Zhoy_procedure\\litingzhinengstopcar\\cloud_downsampled.pcd", *cloud);
	pcl::ConvexHull<pcl::PointXYZ> hull;
	hull.setInputCloud(cloud);
	hull.setDimension(3);

	std::vector<pcl::Vertices> polygons;
	pcl::PointCloud<pcl::PointXYZ>::Ptr surface_hull(new pcl::PointCloud<pcl::PointXYZ>);
	hull.reconstruct(*surface_hull, polygons);

	cout << surface_hull->size() << endl;

	// ---------------------- Visualizer -------------------------------------------
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer);
	viewer->setBackgroundColor(255, 255, 255);

	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color_handler(cloud, 255, 255, 0);
	viewer->addPointCloud(cloud, color_handler, "sample cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 6, "sample cloud");

	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color_handlerK(surface_hull, 255, 0, 0);
	viewer->addPointCloud(surface_hull, color_handlerK, "point");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 6, "point");

	//viewer->addPolygon<pcl::PointXYZ>(surface_hull, 0, 0, 255, "polyline");

	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
	}

}

代码运行演示：

References：
1.https://blog.csdn.net/robin__chou/article/details/50071313
2.https://blog.csdn.net/rocachilles/article/details/95199316