pcl_分割_ExtractIndices_凸包_convex hull

注释加代码比较多，看起来可能比较乱，具体如下。

一、

（1）利用VoxelGrid滤波器进行下采样，这样点就会少一些，好循环。

（2）循环对点云进行分割（SACSegmentation），提取（ExtractIndices）出一个点云平面。

（3）可视化。

codes：

#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/filters/voxel_grid.h>
#include <pcl/filters/extract_indices.h>

#include <pcl/visualization/pcl_visualizer.h>
int
//基于某一分割算法提取点云中的一个子集。
main (int argc, char** argv)
{
  pcl::PCLPointCloud2::Ptr cloud_blob (new pcl::PCLPointCloud2), cloud_filtered_blob (new pcl::PCLPointCloud2);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>), cloud_p (new pcl::PointCloud<pcl::PointXYZ>), cloud_f (new pcl::PointCloud<pcl::PointXYZ>);
  // 填入点云数据
  pcl::PCDReader reader;
  reader.read ("table_scene_lms400.pcd", *cloud_blob);
  std::cerr << "PointCloud before filtering: " << cloud_blob->width * cloud_blob->height << " data points." << std::endl;
  
  //创建了一个VoxelGrid滤波器对数据进行下采样，我们在这里进行下采样的原因是来加速处理过程，越少的点意味着分割循环中处理起来越快。
  // 创建滤波器对象:使用叶大小为1cm的下采样
  pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
  sor.setInputCloud (cloud_blob);
  sor.setLeafSize (0.01f, 0.01f, 0.01f);
  sor.filter (*cloud_filtered_blob);

  // 转化为模板点云
  pcl::fromPCLPointCloud2 (*cloud_filtered_blob, *cloud_filtered);
  std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height << " data points." << std::endl << std::endl;
  // 将下采样后的数据存入磁盘
  pcl::PCDWriter writer;
  writer.write<pcl::PointXYZ> ("table_scene_lms400_downsampled.pcd", *cloud_filtered, false);
  
  pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
  pcl::PointIndices::Ptr inliers (new pcl::PointIndices ());
 
  pcl::SACSegmentation<pcl::PointXYZ> seg; // 创建分割对象
  seg.setOptimizeCoefficients (true);  // 可选,设置对估计的模型参数进行优化处理
  seg.setModelType (pcl::SACMODEL_PLANE); // 必选,设置分割模型类别
  seg.setMethodType (pcl::SAC_RANSAC);//设置用哪个随机参数估计方法
  seg.setMaxIterations (1000);//设置最大迭代次数
  seg.setDistanceThreshold (0.01);//设置判断是否为模型内点的距离阈值

  // 创建滤波器对象
  pcl::ExtractIndices<pcl::PointXYZ> extract;
  int i = 0, nr_points = (int) cloud_filtered->points.size ();
  // 当还有30%原始点云数据时
  while (cloud_filtered->points.size () > 0.3 * nr_points)
  {
    // 从余下的点云中分割最大平面组成部分
    seg.setInputCloud (cloud_filtered);
    seg.segment (*inliers, *coefficients);
    if (inliers->indices.size () == 0)
    {
      std::cerr << "Could not estimate a planar model for the given dataset." << std::endl;
      break;
    }
    // 分离内层
    extract.setInputCloud (cloud_filtered);
    extract.setIndices (inliers); //设置分割后的内点为需要提取的点集
    extract.setNegative (false);//设置提取内点而非外点
    extract.filter (*cloud_p);//提取输出存储到cloud_p
	std::cerr << "cloud_filtered: " << cloud_filtered->size() << std::endl;//输出提取之后剩余的点数
	//提取的平面的点数
    std::cerr << "PointCloud representing the planar component: " << cloud_p->width * cloud_p->height << " data points." << std::endl;
	std::cerr << "--*----*----*----*----*----*----*----*----*----*--" << std::endl;
	std::stringstream ss;
    ss << "table_scene_lms400_plane_" << i << ".pcd";//对每一次的提取都进行了文件保存
    writer.write<pcl::PointXYZ> (ss.str (), *cloud_p, false);
    // 创建滤波器对象
    extract.setNegative (true);//提取出其余的点，也就是外点
    extract.filter (*cloud_f);
    cloud_filtered.swap (cloud_f);//经cloud_filtered与cloud_f交换,也就是让cloud_filtered=cloud_f，向下循环
    i++;
  }
  std::cerr << "cloud_filtered: " << cloud_filtered->size() << std::endl;


  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_seg1(new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_seg2(new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_voxel(new pcl::PointCloud<pcl::PointXYZ>);

  pcl::io::loadPCDFile("table_scene_lms400_plane_0.pcd", *cloud_seg1);
  pcl::io::loadPCDFile("table_scene_lms400_plane_1.pcd", *cloud_seg2);
  pcl::io::loadPCDFile("table_scene_lms400_downsampled.pcd", *cloud_voxel);
  /*
  //将提取结果进行统计学滤波
  pcl::StatisticalOutlierRemoval<pcl::PointXYZ> sor1;
  sor1.setInputCloud(cloud_seg2);
  sor1.setMeanK(50);
  sor1.setStddevMulThresh(1);
  sor1.filter(*cloud_f);
  std::cerr<<cloud_f->size()<<std::endl;
*/

  pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer);
  viewer->initCameraParameters();
  //体素滤波后点云
  int v1(0);
  viewer->createViewPort(0, 0, 0.25, 1, v1);
  viewer->setBackgroundColor(0, 0, 255, v1);
  pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color1(cloud_voxel, 244, 89, 233);
  viewer->addPointCloud(cloud_voxel, color1, "cloud_voxel", v1);
  //第一个平面
  int v2(0);
  viewer->createViewPort(0.25, 0, 0.5, 1, v2);
  viewer->setBackgroundColor(0, 255, 255, v2);
  pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color2(cloud_seg1, 244, 89, 233);
  viewer->addPointCloud(cloud_seg1, color2, "cloud_seg1", v2); //注意id不能一样
  //第二个平面
  int v3(0);
  viewer->createViewPort(0.5, 0, 0.75, 1, v3);
  viewer->setBackgroundColor(34, 128, 0, v3);
  pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color3(cloud_seg2, 244, 89, 233);
  viewer->addPointCloud(cloud_seg2, color3, "cloud_seg2", v3);
  //剩余的点云
  int v4(0);
  viewer->createViewPort(0.75, 0, 1, 1, v4);
  viewer->setBackgroundColor(0, 0, 255, v4);
  pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color4(cloud_filtered, 244, 89, 233);
  viewer->addPointCloud(cloud_filtered, color4, "cloud_statical", v4);

  viewer->addCoordinateSystem();

  viewer->spin();

  return (0);
}

result：

显示结果可以看出原始点云，体素滤波，第一二平面，剩余点云的点数。

可视化结果如下，从左到右依次为体素滤波后，第一提取平面，第二提取平面，剩余点云的图像。

---

二、

crophull任意多边形内部点云提取。

codes:

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <vector>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/crop_hull.h>
#include <pcl/surface/concave_hull.h>

int main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PCDReader reader;
	reader.read(argv[1],*cloud);

	pcl::PointCloud<pcl::PointXYZ>::Ptr boundingbox_ptr (new pcl::PointCloud<pcl::PointXYZ>);
	boundingbox_ptr->push_back(pcl::PointXYZ(0.1, 0.1, 0));//设置滤波的边框点
	boundingbox_ptr->push_back(pcl::PointXYZ(0.1, -0.1,0 ));
	boundingbox_ptr->push_back(pcl::PointXYZ(-0.1, 0.1,0 ));
	boundingbox_ptr->push_back(pcl::PointXYZ(-0.1, -0.1,0 ));
	boundingbox_ptr->push_back(pcl::PointXYZ(0.15, 0.1,0 ));

	pcl::ConvexHull<pcl::PointXYZ> hull;//convex hull 凸包
	hull.setInputCloud(boundingbox_ptr);
	hull.setDimension(2);//设置凸包维度
	std::vector<pcl::Vertices> polygons;//保存凸包顶点
	pcl::PointCloud<pcl::PointXYZ>::Ptr surface_hull (new pcl::PointCloud<pcl::PointXYZ>);
	hull.reconstruct(*surface_hull, polygons);

	pcl::PointCloud<pcl::PointXYZ>::Ptr objects (new pcl::PointCloud<pcl::PointXYZ>);
	pcl::CropHull<pcl::PointXYZ> bb_filter;
	bb_filter.setDim(2);
	bb_filter.setInputCloud(cloud);
	bb_filter.setHullIndices(polygons);//封闭多边形顶点
	bb_filter.setHullCloud(surface_hull);//封闭多边形形状
	bb_filter.filter(*objects);//保存结果
	std::cout << objects->size() << std::endl;

	//visualize
	boost::shared_ptr<pcl::visualization::PCLVisualizer> for_visualizer_v (new pcl::visualization::PCLVisualizer ("crophull display"));
	for_visualizer_v->setBackgroundColor(255,255,255);

	int v1(0);
	for_visualizer_v->createViewPort (0.0, 0.0, 0.33, 1, v1);
	for_visualizer_v->setBackgroundColor (0, 255, 255, v1);
	for_visualizer_v->addPointCloud (cloud,"cloud",v1);
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,255,0,0,"cloud");
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,3,"cloud");
	for_visualizer_v->addPolygon<pcl::PointXYZ>(surface_hull,0,.069*255,0.2*255,"backview_hull_polyline1",v1);

	int v2(0);
	for_visualizer_v->createViewPort (0.33, 0.0, 0.66, 1, v2);	
	for_visualizer_v->setBackgroundColor (255,0, 255, v2);
	for_visualizer_v->addPointCloud (surface_hull,"surface_hull",v2);
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,255,0,0,"surface_hull");
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,8,"surface_hull");
	for_visualizer_v->addPolygon<pcl::PointXYZ>(surface_hull,0,.069*255,0.2*255,"backview_hull_polyline",v2);

	int v3(0);
	for_visualizer_v->createViewPort (0.66, 0.0, 1, 1, v3);
	for_visualizer_v->setBackgroundColor (255, 255, 0, v3);
	for_visualizer_v->addPointCloud (objects,"objects",v3);
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,255,0,0,"objects");
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,3,"objects");

	while (!for_visualizer_v->wasStopped())
	{

		for_visualizer_v->spinOnce(1000);
	}
	system("pause");
}

result：