点云索引学习

点云索引: pcl::ExtractIndicespcl::PointXYZ extract;
点云索引是pcl库中过滤的一种,通过提取点云的子集使得后续操作(例如点云分割)比较方便.

完整代码:

#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>
#include <pcl/visualization/pcl_visualizer.h>


int
main (int argc, char** argv)
{
  pcl::visualization::PCLVisualizer viewer("extract");
  
  int v1(0);   //设置左右窗口
  int v2(0);
  
  viewer.createViewPort(0.0, 0.0, 0.5, 1, v1);
  viewer.setBackgroundColor(0, 0, 0, v1);
 
  viewer.createViewPort(0.5, 0.0, 1, 1, v2);
  viewer.setBackgroundColor(0.5, 0.5, 0.5, v2);




  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>);


  // Fill in the cloud data
  pcl::PCDReader reader;
  reader.read ("/home/zqh/table_scene_lms400.pcd", *cloud_blob);
  std::cerr << "PointCloud before filtering: " << cloud_blob->width * cloud_blob->height << " data points." << std::endl;



  pcl::VoxelGrid<pcl::PCLPointCloud2> sor;       //体素栅格滤波器,对pointcloud2进行下采样
  sor.setInputCloud (cloud_blob);                //设置输入点云
  sor.setLeafSize (0.01f, 0.01f, 0.01f);         //创建体素大小为1立方厘米
  sor.filter (*cloud_filtered_blob);             //滤波之后的点云存在cloud_filtered_blob


  pcl::fromPCLPointCloud2 (*cloud_filtered_blob, *cloud_filtered);   //转换为模板点云,即转化为pcl::PointCloud<PointT>格式

  std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height << " data points." << std::endl;

  //将过滤之后的点云写入pcd文件
  //pcl::PCDWriter writer;
  //writer.write<pcl::PointXYZ> ("table_scene_lms400_downsampled.pcd", *cloud_filtered, false);

  pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> cloud_out_green(cloud_filtered, 20, 180, 20);      // 显示绿色点云
  viewer.addPointCloud(cloud_filtered, cloud_out_green, "cloud_out1", v1);

  pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
  pcl::PointIndices::Ptr inliers (new pcl::PointIndices ());

  pcl::SACSegmentation<pcl::PointXYZ> seg;  //创建分割对象
  
  seg.setOptimizeCoefficients (true);   //对估计模型的参数进行优化处理
  
  seg.setModelType (pcl::SACMODEL_PLANE);   //平面分割
  seg.setMethodType (pcl::SAC_RANSAC);      // 采用RANSAC算法
  seg.setMaxIterations (1000);         //最大迭代次数
  seg.setDistanceThreshold (0.01);     // 内点到模型距离允许的最大值

  
  pcl::ExtractIndices<pcl::PointXYZ> extract;  //创建索引对象

  int i = 0, nr_points = (int) cloud_filtered->points.size ();
  
  //下面这一块代码我的理解是在取百分之多少内点的基础上,分割出最大平面
  while (cloud_filtered->points.size () > 0.8* nr_points)
  {
    
    //在剩余点云中分割最大平面
    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;
    }

    // 提取内点
    extract.setInputCloud (cloud_filtered);
    extract.setIndices (inliers);
    extract.setNegative (false);
    extract.filter (*cloud_p);      //提取之后的点存在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);

    //创建滤波器对象
    extract.setNegative (true);
    extract.filter (*cloud_f);
    cloud_filtered.swap (cloud_f);
    i++;
  }

  pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> cloud_out_orage(cloud_p, 250, 128, 10);     //显示橘色点云
  viewer.addPointCloud(cloud_p, cloud_out_orage, "cloud_out2", v2);
 
  while (!viewer.wasStopped())
  {
  viewer.spinOnce();
  }
 


  return (0);
}

结果:

PointCloud before filtering: 460400 data points.
PointCloud after filtering: 41049 data points.
PointCloud representing the planar component: 20161 data points.