[点云分割] 基于法线差的分割

效果：

 

总体思路：

1、计算DoN特征

2、依据曲率进行过滤

3、依据欧式距离进行聚类

计算DoN特征的目的是为了提供准确的曲率信息。

其他：

计算DoN特征，这个算法是一种基于法线差异的尺度滤波器，用于点云数据。对于点云中的每个点，使用不同的搜索半径（sigma_s，sigma_l）估计两个法线，然后将这两个法线相减，得到一个基于尺度的特征。这个特征可以进一步用于过滤点云数据，类似于图像处理中的高斯差分（Difference of Gaussians）。但是，这个算法是在表面上进行的。当两个搜索半径相关时（sigma_l=10*sigma_s），可以获得最佳结果，两个搜索半径之间的频率可以被视为滤波器的带宽。对于适当的值和阈值，它可以用于表面边缘提取。

需要注意的是，输入的法线（通过setInputNormalsSmall和setInputNormalsLarge设置）必须与输入的点云（通过setInputCloud设置）相匹配。这与扩展FeatureFromNormals的特征估计方法的行为不同，后者将法线与搜索表面匹配。

这个算法的作者是Yani Ioannou，详细的介绍可以参考他的硕士论文《Automatic Urban Modelling using Mobile Urban LIDAR Data》。这个算法适用于点云数据的特征提取和滤波，特别适用于城市建模、环境感知和地理信息系统等领域。

代码：

/**
* @file don_segmentation.cpp
* Difference of Normals Example for PCL Segmentation Tutorials.
*
* @author Yani Ioannou
* @date 2012-09-24
 */
#include <string>

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/search/organized.h>
#include <pcl/search/kdtree.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/filters/conditional_removal.h>
#include <pcl/segmentation/extract_clusters.h>

#include <pcl/features/don.h>

using namespace pcl;

int main (int argc, char *argv[])
{
    ///The smallest scale to use in the DoN filter.
    double scale1;

    ///The largest scale to use in the DoN filter.
    double scale2;

    ///The minimum DoN magnitude to threshold by
    double threshold;

    //segment scene into clusters with given distance tolerance using euclidean clustering
    double segradius;

    if (argc < 6)
    {
        std::cerr << "usage: " << argv[0] << " inputfile smallscale largescale threshold segradius" << std::endl;
        exit (EXIT_FAILURE);
    }

    /// the file to read from.
    td::string infile = argv[1];
    /// small scale
    std::istringstream (argv[2]) >> scale1;
    /// large scale
    std::istringstream (argv[3]) >> scale2;
    std::istringstream (argv[4]) >> threshold;   // threshold for DoN magnitude
    std::istringstream (argv[5]) >> segradius;   // threshold for radius segmentation

    // Load cloud in blob format
    pcl::PCLPointCloud2 blob;
    pcl::io::loadPCDFile (infile.c_str (), blob);
    pcl::PointCloud<PointXYZRGB>::Ptr cloud (new pcl::PointCloud<PointXYZRGB>);
    pcl::fromPCLPointCloud2 (blob, *cloud);

    // Create a search tree, use KDTreee for non-organized data.
    pcl::search::Search<PointXYZRGB>::Ptr tree;
    if (cloud->isOrganized ())
    {
        tree.reset (new pcl::search::OrganizedNeighbor<PointXYZRGB> ());
    }
    else
    {
        tree.reset (new pcl::search::KdTree<PointXYZRGB> (false));
    }

    // Set the input pointcloud for the search tree
    tree->setInputCloud (cloud);

    if (scale1 >= scale2)
    {
        std::cerr << "Error: Large scale must be > small scale!" << std::endl;
        exit (EXIT_FAILURE);
    }

    // Compute normals using both small and large scales at each point
    pcl::NormalEstimationOMP<PointXYZRGB, PointNormal> ne;
    ne.setInputCloud (cloud);
    ne.setSearchMethod (tree);

    /**
   * NOTE: setting viewpoint is very important, so that we can ensure
   * normals are all pointed in the same direction!
   */
    ne.setViewPoint (std::numeric_limits<float>::max (), std::numeric_limits<float>::max (), std::numeric_limits<float>::max ());

    // calculate normals with the small scale
    std::cout << "Calculating normals for scale..." << scale1 << std::endl;
    pcl::PointCloud<PointNormal>::Ptr normals_small_scale (new pcl::PointCloud<PointNormal>);

    ne.setRadiusSearch (scale1);
    ne.compute (*normals_small_scale);

    // calculate normals with the large scale
    std::cout << "Calculating normals for scale..." << scale2 << std::endl;
    pcl::PointCloud<PointNormal>::Ptr normals_large_scale (new pcl::PointCloud<PointNormal>);

    ne.setRadiusSearch (scale2);
    ne.compute (*normals_large_scale);

    // Create output cloud for DoN results
    PointCloud<PointNormal>::Ptr doncloud (new pcl::PointCloud<PointNormal>);
    copyPointCloud (*cloud, *doncloud);

    std::cout << "Calculating DoN... " << std::endl;
    // Create DoN operator
    pcl::DifferenceOfNormalsEstimation<PointXYZRGB, PointNormal, PointNormal> don;
    don.setInputCloud (cloud);
    don.setNormalScaleLarge (normals_large_scale);
    don.setNormalScaleSmall (normals_small_scale);

    if (!don.initCompute ())
    {
        std::cerr << "Error: Could not initialize DoN feature operator" << std::endl;
        exit (EXIT_FAILURE);
    }

    // Compute DoN
    don.computeFeature (*doncloud);

    // Save DoN features
    pcl::PCDWriter writer;
    writer.write<pcl::PointNormal> ("don.pcd", *doncloud, false);

    // Filter by magnitude
    std::cout << "Filtering out DoN mag <= " << threshold << "..." << std::endl;

    // Build the condition for filtering
    pcl::ConditionOr<PointNormal>::Ptr range_cond (
    new pcl::ConditionOr<PointNormal> ()
    );
    range_cond->addComparison (pcl::FieldComparison<PointNormal>::ConstPtr (
                            new pcl::FieldComparison<PointNormal> ("curvature", pcl::ComparisonOps::GT, threshold))
                            );
    // Build the filter
    pcl::ConditionalRemoval<PointNormal> condrem;
    condrem.setCondition (range_cond);
    condrem.setInputCloud (doncloud);

    pcl::PointCloud<PointNormal>::Ptr doncloud_filtered (new pcl::PointCloud<PointNormal>);

    // Apply filter
    condrem.filter (*doncloud_filtered);

    doncloud = doncloud_filtered;

    // Save filtered output
    std::cout << "Filtered Pointcloud: " << doncloud->size () << " data points." << std::endl;

    writer.write<pcl::PointNormal> ("don_filtered.pcd", *doncloud, false);

    // Filter by magnitude
    std::cout << "Clustering using EuclideanClusterExtraction with tolerance <= " << segradius << "..." << std::endl;

    pcl::search::KdTree<PointNormal>::Ptr segtree (new pcl::search::KdTree<PointNormal>);
    segtree->setInputCloud (doncloud);

    std::vector<pcl::PointIndices> cluster_indices;
    pcl::EuclideanClusterExtraction<PointNormal> ec;

    ec.setClusterTolerance (segradius);
    ec.setMinClusterSize (50);
    ec.setMaxClusterSize (100000);
    ec.setSearchMethod (segtree);
    ec.setInputCloud (doncloud);
    ec.extract (cluster_indices);

    int j = 0;
    for (const auto& cluster : cluster_indices)
    {
        pcl::PointCloud<PointNormal>::Ptr cloud_cluster_don (new pcl::PointCloud<PointNormal>);
        for (const auto& idx : cluster.indices)
            {
                cloud_cluster_don->points.push_back ((*doncloud)[idx]);
            }

        cloud_cluster_don->width = cloud_cluster_don->size ();
        cloud_cluster_don->height = 1;
        cloud_cluster_don->is_dense = true;

        //Save cluster
        std::cout << "PointCloud representing the Cluster: " << cloud_cluster_don->size () << " data points." << std::endl;
        std::stringstream ss;
        ss << "don_cluster_" << j << ".pcd";
        writer.write<pcl::PointNormal> (ss.str (), *cloud_cluster_don, false);
        ++j;
        }
    }