Open3D：RANSAC拟合平面分割点云（C++）

20200918：最近骨折了，很烦。蹦蹦跳跳的，膝盖疼。

一、RANSAC（Random Sample Consensus）

https://baike.baidu.com/item/ransac/10993469?fr=aladdin

（省的某些人嫌弃我不讲原理）

二、代码

分享给有需要的人，代码质量勿喷。

//Open3D
#include "Open3D/Open3D.h"

//Eigen
#include "Eigen/Dense"

/* RANSAC平面分割 */
void testOpen3D::pcPlaneRANSAC(const QString &pcPath)
{
	int width = 700, height = 500;
	auto cloud_ptr = std::make_shared<open3d::geometry::PointCloud>();
	if (!open3d::io::ReadPointCloud(pcPath.toStdString(), *cloud_ptr)) { return; }
	open3d::visualization::DrawGeometries({ cloud_ptr }, "Point Cloud 1", width, height);


	/***** 距离阈值，平面最小点数，最大迭代次数。返回平面参数和内点 *****/
	double tDis = 0.05;
	int minNum = 3;
	int numIter = 100;
	std::tuple<Eigen::Vector4d, std::vector<size_t>> vRes = cloud_ptr->SegmentPlane(tDis, minNum, numIter);

	//ABCD
	Eigen::Vector4d para = std::get<0>(vRes);
	//内点索引
	std::vector<size_t> selectedIndex = std::get<1>(vRes);


	//内点赋红色
	std::shared_ptr<open3d::geometry::PointCloud> inPC = cloud_ptr->SelectByIndex(selectedIndex, false);
	const Eigen::Vector3d colorIn = { 255,0,0 };
	inPC->PaintUniformColor(colorIn);

	//外点赋黑色
	std::shared_ptr<open3d::geometry::PointCloud> outPC = cloud_ptr->SelectByIndex(selectedIndex, true);
	const Eigen::Vector3d colorOut = { 0,0,0 };
	outPC->PaintUniformColor(colorOut);


	//显示 
	open3d::visualization::DrawGeometries({ inPC,outPC }, "RANSAC平面分割", width, height);
}

三、结果