PCL_点云分割_欧式聚类提取

使用EuclideanClusterExtraction类采用欧式聚类对三维点云组成的场景进行分割。
部分代码说明：
（1）对点云进行滤波重采样预处理，采用平面分割模型对点云进行分割处理，提取平面上的点集；

	pcl::VoxelGrid<pcl::PointXYZ> vg;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);
	vg.setInputCloud(cloud);
	vg.setLeafSize(0.01f, 0.01f, 0.01f);
	vg.filter(*cloud_filtered);
	std::cout << "PointCloud after filtering has: " << cloud_filtered->points.size() << " data points." << std::endl; //*

																													  // Create the segmentation object for the planar model and set all the parameters
	pcl::SACSegmentation<pcl::PointXYZ> seg;
	pcl::PointIndices::Ptr inliers(new pcl::PointIndices);
	pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_plane(new pcl::PointCloud<pcl::PointXYZ>());
	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;
		}

		// Extract the planar inliers from the input cloud
		pcl::ExtractIndices<pcl::PointXYZ> extract;
		extract.setInputCloud(cloud_filtered);
		extract.setIndices(inliers);
		extract.setNegative(false);

		// Write the planar inliers to disk
		extract.filter(*cloud_plane);
		std::cout << "PointCloud representing the planar component: " << cloud_plane->points.size() << " data points." << std::endl;

		// Remove the planar inliers, extract the rest
		extract.setNegative(true);
		extract.filter(*cloud_f);
		cloud_filtered = cloud_f;
	}

（2）建立Kd树对象作为提取点云搜索方法，创建点云索引向量存储实际点云索引信息；

	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
	tree->setInputCloud(cloud_filtered);

	std::vector<pcl::PointIndices> cluster_indices;

（3）从点云中提取聚类，并将点云索引保存在cluster_indices中；注意设置合适的聚类搜索半径，若太高则多个对象会被分割为一个聚类，若太低则一个实际对象会被分割为多个聚类。

	pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
	ec.setClusterTolerance(0.02); // 2cm
	ec.setMinClusterSize(100);
	ec.setMaxClusterSize(25000);
	ec.setSearchMethod(tree);
	ec.setInputCloud(cloud_filtered);
	ec.extract(cluster_indices);

（4）迭代访问点云索引，分割出每个聚类。

	int j = 0;
	for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin(); it != cluster_indices.end(); ++it)
	{
		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++)
			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++;
	}

运行结果：