PCL点云分割算法及其测试代码-分割平面

目录

 

1、平台

2、PCD文件读取

3、算法

4、测试代码及注释

5、测试结果

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1、平台

PCL1.8.0+VS2015+Win10，具体配置可以参照链接：https://blog.csdn.net/weixin_36602742/article/details/112345693

2、PCD文件读取

可以参照链接：https://blog.csdn.net/weixin_36602742/article/details/112347622

3、算法

采用随机采样一致性分割算法，具体原理及介绍可以参考链接：https://blog.csdn.net/weixin_36602742/article/details/112526322

4、测试代码及注释

#include"stdafx.h"
#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>
int
main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZ> cloud;
	//填充点云数据
	cloud.width = 15;
	cloud.height = 1;
	cloud.points.resize(cloud.width * cloud.height);
	//生成数据
	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;
	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);
	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);
	seg.setMethodType(pcl::SAC_RANSAC);
	seg.setDistanceThreshold(0.01);
	seg.setInputCloud(cloud.makeShared());
	seg.segment(*inliers, *coefficients);
	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;
	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;
	system("pause");
	return (0);
}

5、测试结果