PCL检测点云边界

一、分享给有需要的人，代码质量勿喷

void boundary(const std::string &pathPC, const std::string &pathBoundary,
	const double &rNormal, const double &rBoundary, const double &thrAngle)
{
	//read point cloud
	pcl::PointCloud<pcl::PointXYZ>::Ptr pc(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::io::loadPCDFile(pathPC, *pc);

	/* normal */
	pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normalEst;
	pcl::search::KdTree<pcl::PointXYZ>::Ptr kd_tree(new pcl::search::KdTree<pcl::PointXYZ>);
	normalEst.setInputCloud(pc);
	normalEst.setSearchMethod(kd_tree);
	normalEst.setRadiusSearch(rNormal);
	pcl::PointCloud<pcl::Normal>::Ptr pcNormal(new pcl::PointCloud<pcl::Normal>);
	normalEst.compute(*pcNormal);

	/* boundary */
	pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> boundaryEst;
	boundaryEst.setInputCloud(pc);
	boundaryEst.setInputNormals(pcNormal);
	boundaryEst.setRadiusSearch(rBoundary);
	boundaryEst.setAngleThreshold(thrAngle);
	boundaryEst.setSearchMethod(kd_tree);
	pcl::PointCloud<pcl::Boundary> boundaries;
	boundaryEst.compute(boundaries);

	pcl::PointCloud<pcl::PointXYZ>::Ptr pcBoundary(new pcl::PointCloud<pcl::PointXYZ>);
	for (int i = 0; i < pc->points.size(); i++)
	{
		if (boundaries[i].boundary_point > 0)
		{
			pcBoundary->push_back(pc->points[i]);
		}
	}

	//write boundary
	pcl::io::savePCDFileASCII(pathBoundary, *pcBoundary);
}

二、效果

rBoundary=0.5  thrAngle=30

rBoundary=0.5  thrAngle=60

rBoundary=0.5  thrAngle=90

rBoundary=0.2  thrAngle=60

rBoundary=0.5  thrAngle=60

rBoundary=1  thrAngle=60