PCL：点云分割-平面模型分割

#include <iostream> #include <pcl/ModelCoefficients.h> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/sample_consensus/method_types.h> //随机参数估计方法头文件 #include <pcl/sample_consensus/model_types.h> //模型定义头文件 #include <pcl/segmentation/sac_segmentation.h> //基于采样一致性分割的类的头文件 int main(int argc, char** argv) { pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); // 填充点云 cloud->width = 15; cloud->height = 1; cloud->points.resize(cloud->width * cloud->height); // 生成数据，采用随机数填充点云的x,y坐标，都处于z为1的平面上 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，即重新设置几个点的z值，使其偏离z为1的平面 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; //打印 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; //创建分割时所需要的模型系数对象，coefficients及存储内点的点索引集合对象inliers 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; // 可选择配置，设置模型系数需要优化 seg.setOptimizeCoefficients(true); // 必要的配置，设置分割的模型类型，所用的随机参数估计方法，距离阀值，输入点云 seg.setModelType(pcl::SACMODEL_PLANE); //设置模型类型 seg.setMethodType(pcl::SAC_RANSAC); //设置随机采样一致性方法类型 seg.setDistanceThreshold(0.01); //设定距离阀值，距离阀值决定了点被认为是局内点是必须满足的条件，表示点到估计模型的距离最大值， seg.setInputCloud(cloud); //引发分割实现，存储分割结果到点几何inliers及存储平面模型的系数coefficients seg.segment(*inliers, *coefficients); if (inliers->indices.size() == 0) { PCL_ERROR("Could not estimate a planar model for the given dataset."); return (-1); } //打印出平面模型系数 Ax+By+Cz+D=0 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); }