[点云分割] 区域增长分割

最新推荐文章于 2024-07-16 00:00:00 发布

爱钓鱼的歪猴

最新推荐文章于 2024-07-16 00:00:00 发布

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本文链接：https://blog.csdn.net/weixin_45824067/article/details/134556817

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效果：

代码：

#include <iostream>
#include <vector>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h> // 各种点云数据类型
#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/filter_indices.h> // for pcl::removeNaNFromPointCloud
#include <pcl/segmentation/region_growing.h>


int main(){

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>());
    if( pcl::io::loadPCDFile<pcl::PointXYZ>("/home/lrj/work/pointCloudData/table_scene_lms400.pcd", *cloud) == -1)
    {
        std::cout << "cloud reading failed.\n";
        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::removeNaNFromPointCloud(*cloud, *indices);

    pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> reg;
    reg.setMaxClusterSize(50);
    reg.setMaxClusterSize(1000000);
    reg.setSearchMethod(tree);
    reg.setNumberOfNeighbours(30);
    reg.setInputCloud(cloud);
    reg.setIndices(indices);
    reg.setInputNormals(normals);
    reg.setSmoothnessThreshold(3.0 / 180.0 * M_PI);
    reg.setCurvatureThreshold(1.0);

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

    std::cout << "Number of cluster is equal to " << clusters.size() << std::endl;
    std::cout << "First cluster has " << clusters[0].indices.size() << " points." << std::endl;
    std::cout << "These are the indices of the points of the initial" << std::endl
              << "cloud thar belong to the first cluster:" << std::endl;
    std::size_t counter = 0;
    while (counter < clusters[0].indices.size())
    {
        std::cout << clusters[0].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::CloudViewer viewer("cluster viewer");
    viewer.showCloud(colored_cloud);
    while(!viewer.wasStopped())
    {

    }

    return(0);

}