平面分割源代码
#include<pcl/visualization/cloud_viewer.h>
#include<iostream>
#include<pcl/io/io.h>
#include<pcl/io/pcd_io.h>
#include<pcl/io/ply_io.h>
#include<pcl/point_types.h>
//滤波头文件
#include <pcl/filters/statistical_outlier_removal.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/conditional_removal.h>
#include <pcl/filters/voxel_grid.h>
//分割头文件
#include <pcl/ModelCoefficients.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/filters/extract_indices.h>
int user_data;
using std::cout;
void viewerOneOff(pcl::visualization::PCLVisualizer& viewer) {
viewer.setBackgroundColor(1.0, 0.5, 1.0);
}
int main()
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ> cloud_2;
/*pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2());
pcl::PCLPointCloud2::Ptr cloud_2(new pcl::PCLPointCloud2());
*/
pcl::PointCloud<pcl::PointXYZ>::Ptr
cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);
char strfilepath[256] = "house.pcd";
//char strfilepath[256] = "..\Clouds\my_cloud2.pcd";
if (-1 == pcl::io::loadPCDFile(strfilepath, *cloud)) {
cout << "error input!" << endl;
return -1;
}
// pcl::fromPCLPointCloud2(*cloud, *cloud_filtered);
pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
pcl::PointIndices::Ptr inliers(new pcl::PointIndices);
//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);//平面模型
seg.setMethodType(pcl::SAC_RANSAC);//迭代方式
seg.setDistanceThreshold(0.1); //模型内外点阈值
seg.setInputCloud(cloud);
seg.segment(*inliers, *coefficients);//执行分割操作,分割结果的点云的索引存储在inliers中
if (inliers->indices.size() == 0)
{
PCL_ERROR("Could not estimate a planar model for the given dataset.");
return (-1);
}
std::cerr << "Model coefficients: " << coefficients->values[0] << " "
<< coefficients->values[1] << " "
<< coefficients->values[2] << " "
<< coefficients->values[3] << std::endl;
std::cerr << "Model inliers: " << inliers->indices.size() << std::endl;
//分割indices
pcl::ExtractIndices<pcl::PointXYZ> extract;
extract.setInputCloud(cloud);
extract.setIndices(inliers);
extract.setNegative(false);
// Write the planar inliers to disk
extract.filter(*cloud_filtered);
pcl::io::savePLYFile("Y2.ply", *cloud_filtered); //保存文件
return 0;
}
实验结果