3.PCL点云数据的分割

        点云分割常见算法有欧式聚类、欧式聚类的变种、超体素分割算法和其变种、GrabCut GrabCut算法、随机行走分割算法、随机抽样算法、区域生长算法等。下面分别介绍几种常见的分割算法。

1.RANSAC算法

代码如下：

#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/visualization/pcl_visualizer.h>
int
main()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr inliers_points(new pcl::PointCloud<pcl::PointXYZ>);

    // Fill in the cloud data
    cloud->width = 50;
    cloud->height = 1;
    cloud->points.resize(cloud->width * cloud->height);

    // Generate the data
    for (auto& point : *cloud)
    {
        point.x = rand() / (RAND_MAX + 1.0f);
        point.y = rand() / (RAND_MAX + 1.0f);
        point.z = 1.0;
    }

    // Set a few outliers
    (*cloud)[0].z = 2.0;
    (*cloud)[3].z = -2.0;
    (*cloud)[6].z = 4.0;


    for(int i=10;i<40;i++)
        (*cloud)[i].z = 1.2;

    std::cerr << "Point cloud data: " << cloud->size() << " points" << std::endl;
    for (const auto& point : *cloud)
        std::cerr << "    " << point.x << " "
        << point.y << " "
        << point.z << std::endl;
    // 创建模型系数
    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
    pcl::PointIndices::Ptr inliers(new pcl::PointIndices); // 创建索引
    // Create the segmentation object
    pcl::SACSegmentation<pcl::PointXYZ> seg; // 创建分割对象并设置参数
    // Optional
    seg.setOptimizeCoefficients(true);
    // Mandatory
    seg.setModelType(pcl::SACMODEL_PLANE);
    seg.setMethodType(pcl::SAC_RANSAC);
    seg.setDistanceThreshold(0.01);

    seg.setInputCloud(cloud);
    seg.segment(*inliers, *coefficients); //获取点云索引和对应的系数

    if (inliers->indices.size() == 0)
    {
        PCL_ERROR("Could not estimate a planar model for the given dataset.\n");
        return (-1);
    }

    std::cerr << "Model coefficients: " << coefficients->values[0] << " "
        << coefficients->values[1] << " "
        << coefficients->values[2] << " "
        << coefficients->values[3] << std::endl;

    std::cerr << "Model inliers: " << inliers->indices.size() << std::endl;
    for (const auto& idx : inliers->indices)
    {
        std::cerr << idx << "    " << cloud->points[idx].x << " "
            << cloud->points[idx].y << " "
            << cloud->points[idx].z << std::endl;
        auto& point = cloud->points[idx];
        inliers_points->emplace_back(point);
    }

    // 创建 PCL 可视化对象
    pcl::visualization::PCLVisualizer viewer("Point Cloud Viewer");
    // 设置显示点云的颜色为红色
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color1(cloud, 255, 0, 0);
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color2(inliers_points, 0, 255, 0);

    // 添加点云数据到可视化对象并设置颜色
    viewer.addPointCloud<pcl::PointXYZ>(cloud, color1, "cloud");
    viewer.addPointCloud<pcl::PointXYZ>(inliers_points, color2, "inliers_points");

    // 设置点云数据的显示参数
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "cloud");
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "inliers_points");
    // 添加坐标轴到可视化对象
    viewer.addCoordinateSystem(2.0); // 默认1.0为坐标轴的尺寸
    // 显示点云数据
    while (!viewer.wasStopped())
    {
        viewer.spinOnce();
    }

    return (0);
}

2.平面分割

代码如下：

#include <pcl/ModelCoefficients.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_clusters.h>
//图像可视化
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>

using namespace std;
using namespace pcl;



int main(int argc, char** argv) {

	pcl::PCDReader reader;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>), cloud_f(new pcl::PointCloud<pcl::PointXYZ>);
	reader.read("E:\\vs\\daima\\PCLpratict\\Projects\\isprs\\isprs\\1_1.pcd", *cloud);
	std::cout << "PointCloud before filtering has: " << cloud->points.size() << " data points." << std::endl; //*

	// 使用1cm体素进行下采样
	pcl::VoxelGrid<pcl::PointXYZ> vg;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);
	vg.setInputCloud(cloud);
	vg.setLeafSize(0.5f, 0.5f, 0.5f);
	vg.filter(*cloud_filtered);
	std::cout << "PointCloud after filtering has: " << cloud_filtered->points.size() << " data points." << std::endl; //*

	// 进行平面分割
	pcl::SACSegmentation<pcl::PointXYZ> seg;
	pcl::PointIndices::Ptr inliers(new pcl::PointIndices);//平面点云索引信息
	pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);//平面方程的系数
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_plane(new pcl::PointCloud<pcl::PointXYZ>());//平面点云
	pcl::PCDWriter writer;
	seg.setOptimizeCoefficients(true);
	seg.setModelType(pcl::SACMODEL_PLANE);
	seg.setMethodType(pcl::SAC_RANSAC);
	seg.setMaxIterations(100);
	seg.setDistanceThreshold(5.0);
	int i = 0, nr_points = (int)cloud_filtered->points.size();
	while (cloud_filtered->points.size() > 0.3 * nr_points)
	{
		// Segment the largest planar component from the remaining cloud
		seg.setInputCloud(cloud_filtered);
		seg.segment(*inliers, *coefficients);
		if (inliers->indices.size() == 0)
		{
			std::cout << "Could not estimate a planar model for the given dataset." << std::endl;
			break;
		}

		// 通过索引提取平面点云
		pcl::ExtractIndices<pcl::PointXYZ> extract;
		extract.setInputCloud(cloud_filtered);
		extract.setIndices(inliers);
		extract.setNegative(false);

		// Get the points associated with the planar surface
		extract.filter(*cloud_plane);
		std::cout << "PointCloud representing the planar component: " << cloud_plane->points.size() << " data points." << std::endl;

		// 移去平面局内点，提取剩余点云
		extract.setNegative(true);
		extract.filter(*cloud_f);
		*cloud_filtered = *cloud_f;
	}

	//平面分割图像可视化
	boost::shared_ptr<visualization::PCLVisualizer> viewer(new
		visualization::PCLVisualizer("3D Viewer"));//页面名称是3D Viewer
	viewer->setBackgroundColor(0, 0, 0);//页面背景是黑色
	viewer->addPointCloud<PointXYZ>(cloud_filtered, "sample cloud");
	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}



	return 0;
}

3.欧式聚类算法

代码如下：

#include <pcl/ModelCoefficients.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/features/normal_3d.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_clusters.h>


int main(int argc, char** argv)
{
	// Read in the cloud data
	pcl::PCDReader reader;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>), cloud_f(new pcl::PointCloud<pcl::PointXYZ>);
	reader.read("E:\\vs\\daima\\PCLpratict\\Projects\\isprs\\isprs\\1_1.pcd", *cloud);
	std::cout << "PointCloud before filtering has: " << cloud->points.size() << " data points." << std::endl; //*

	// 使用1cm体素进行下采样
	pcl::VoxelGrid<pcl::PointXYZ> vg;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);
	vg.setInputCloud(cloud);
	vg.setLeafSize(0.5f, 0.5f, 0.5f);
	vg.filter(*cloud_filtered);
	std::cout << "PointCloud after filtering has: " << cloud_filtered->points.size() << " data points." << std::endl; //*

	// 进行平面分割
	pcl::SACSegmentation<pcl::PointXYZ> seg;
	pcl::PointIndices::Ptr inliers(new pcl::PointIndices);//平面点云索引信息
	pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);//平面方程的系数
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_plane(new pcl::PointCloud<pcl::PointXYZ>());//平面点云
	pcl::PCDWriter writer;
	seg.setOptimizeCoefficients(true);
	seg.setModelType(pcl::SACMODEL_PLANE);
	seg.setMethodType(pcl::SAC_RANSAC);
	seg.setMaxIterations(100);
	seg.setDistanceThreshold(0.02);

	int i = 0, nr_points = (int)cloud_filtered->points.size();
	while (cloud_filtered->points.size() > 0.3 * nr_points)
	{
		// Segment the largest planar component from the remaining cloud
		seg.setInputCloud(cloud_filtered);
		seg.segment(*inliers, *coefficients);
		if (inliers->indices.size() == 0)
		{
			std::cout << "Could not estimate a planar model for the given dataset." << std::endl;
			break;
		}

		// 通过索引提取平面点云
		pcl::ExtractIndices<pcl::PointXYZ> extract;
		extract.setInputCloud(cloud_filtered);
		extract.setIndices(inliers);
		extract.setNegative(false);

		// Get the points associated with the planar surface
		extract.filter(*cloud_plane);
		std::cout << "PointCloud representing the planar component: " << cloud_plane->points.size() << " data points." << std::endl;

		// 移去平面局内点，提取剩余点云
		extract.setNegative(true);
		extract.filter(*cloud_f);
		*cloud_filtered = *cloud_f;
	}

	// 创建kd数对象
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
	tree->setInputCloud(cloud_filtered);

	std::vector<pcl::PointIndices> cluster_indices;//cluster_indices是一个向量，保存每个检测到的聚类，cluster_indices[0]即为第一个聚类包含的点集的所有索引
	pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;//创建欧式聚类对象
	ec.setClusterTolerance(0.02); // 近邻搜索的搜索半径为2cm
	ec.setMinClusterSize(100);//一个聚类需要的最少点数目为100
	ec.setMaxClusterSize(25000);//一个聚类需要的最大点数目为25000
	ec.setSearchMethod(tree);
	ec.setInputCloud(cloud_filtered);
	ec.extract(cluster_indices);

	int j = 0;
	for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin(); it != cluster_indices.end(); ++it)//循环访问每个索引，把每个聚类的点分别写入到点云中
	{
		pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_cluster(new pcl::PointCloud<pcl::PointXYZ>);
		for (std::vector<int>::const_iterator pit = it->indices.begin(); pit != it->indices.end(); ++pit)//it代表聚类索引，pit代表聚类里每个点的索引
			cloud_cluster->points.push_back(cloud_filtered->points[*pit]); //*
		cloud_cluster->width = cloud_cluster->points.size();
		cloud_cluster->height = 1;
		cloud_cluster->is_dense = true;

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

	return (0);
}