PCL系列——平面模型分割¶

PCL系列¶

说明¶

代码¶

#include <iostream>
#include <pcl/ModelCoefficients.h>	//模型系数
#include <pcl/io/pcd_io.h>					//输入输出
#include <pcl/point_types.h>				//点云（类型）
#include <pcl/sample_consensus/method_types.h>	//随机样本一致性算法	方法类型
#include <pcl/sample_consensus/model_types.h>		//随机样本一致性算法	模型类型
#include <pcl/segmentation/sac_segmentation.h>	//随机样本一致性算法	分割方法

int
main (int argc, char** argv)
{
  pcl::PointCloud<pcl::PointXYZ> cloud; //创建点云对象，用于存储点云数据
	//填充点云数据
	cloud.width  = 15;
  cloud.height = 1;
  cloud.points.resize (cloud.width * cloud.height);

	//生成随机数据
	for (size_t i = 0; i < cloud.points.size (); ++i)
  {
    cloud.points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud.points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud.points[i].z = 1.0;
  }

	//设置几个局外点
	cloud.points[0].z = 2.0;
	cloud.points[3].z = -2.0;
	cloud.points[6].z = 4.0;
	//显示点云数量和坐标信息
  std::cerr << "Point cloud data: " << cloud.points.size () <<" points" << std::endl;
	for (size_t i = 0; i < cloud.points.size (); ++i)
		std::cerr << "    " << cloud.points[i].x << " " 
							<< cloud.points[i].y << " " 
							<< cloud.points[i].z << std::endl;

	pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients); //存储输出的模型的系数
	pcl::PointIndices::Ptr inliers (new pcl::PointIndices);	//存储内点，使用的点
	
	//创建分割对象
  pcl::SACSegmentation<pcl::PointXYZ> seg;
	//可选设置
  seg.setOptimizeCoefficients (true);
	//必须设置
	seg.setModelType (pcl::SACMODEL_PLANE); //设置模型类型，检测平面
  seg.setMethodType (pcl::SAC_RANSAC);		//设置方法【聚类或随机样本一致性】
  seg.setDistanceThreshold (0.01);
  seg.setInputCloud (cloud.makeShared ());
  seg.segment (*inliers, *coefficients);	//分割操作

	if (inliers->indices.size () == 0)//根据内点数量，判断是否成功
	{

    PCL_ERROR ("Could not estimate a planar model for the given dataset.");
		return (-1);
  }
	//显示模型的系数
  std::cerr << "Model coefficients: " << coefficients->values[0] << " " 
						<<coefficients->values[1] << " "
						<<coefficients->values[2] << " " 
						<<coefficients->values[3] <<std::endl;
	//显示估计平面模型过程中使用的内点
  std::cerr << "Model inliers: " << inliers->indices.size () << std::endl;
	for (size_t i = 0; i < inliers->indices.size (); ++i)
			std::cerr << inliers->indices[i] << "    " <<cloud.points[inliers->indices[i]].x << " "
								<<cloud.points[inliers->indices[i]].y << " "
								<<cloud.points[inliers->indices[i]].z << std::endl;
	return (0);
}
运行结果¶

这里写图片描述
参考¶

《点云库PCL学习教程》 14章