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3d激光雷达开发(平面分割)

逸省 2022-11-23 阅读 95


        平面分割是点云数据经常需要处理的一个功能。在很多场景下面,平面数据都是没有用的。这个时候需要考虑的,就是怎么把平面数据从点云当中分割出去。鉴于此,pcl库给我们提供了一种这样的分割处理方法,​​https://pcl.readthedocs.io/projects/tutorials/en/master/planar_segmentation.html#planar-segmentation​​

1、准备planar_segmentation.cpp文件

#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 ()
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

// Fill in the cloud data
cloud->width = 15;
cloud->height = 1;
cloud->points.resize (cloud->width * cloud->height);

// Generate the data
for (auto& point: *cloud)
{
point.x = 1024 * rand () / (RAND_MAX + 1.0f);
point.y = 1024 * rand () / (RAND_MAX + 1.0f);
point.z = 1.0;
}

// Set a few outliers
(*cloud)[0].z = 2.0;
(*cloud)[3].z = -2.0;
(*cloud)[6].z = 4.0;

std::cerr << "Point cloud data: " << cloud->size () << " points" << std::endl;
for (const auto& point: *cloud)
std::cerr << " " << point.x << " "
<< point.y << " "
<< point.z << std::endl;

pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients);
pcl::PointIndices::Ptr inliers (new pcl::PointIndices);
// Create the segmentation object
pcl::SACSegmentation<pcl::PointXYZ> seg;
// Optional
seg.setOptimizeCoefficients (true);
// Mandatory
seg.setModelType (pcl::SACMODEL_PLANE);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setDistanceThreshold (0.01);

seg.setInputCloud (cloud);
seg.segment (*inliers, *coefficients);

if (inliers->indices.size () == 0)
{
PCL_ERROR ("Could not estimate a planar model for the given dataset.\n");
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 (const auto& idx: inliers->indices)
std::cerr << idx << " " << cloud->points[idx].x << " "
<< cloud->points[idx].y << " "
<< cloud->points[idx].z << std::endl;

return (0);
}

2、准备CMakeLists.txt文件

cmake_minimum_required(VERSION 3.5 FATAL_ERROR)

project(planar_segmentation)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (planar_segmentation planar_segmentation.cpp)
target_link_libraries (planar_segmentation ${PCL_LIBRARIES})

3、生成sln文件,准备编译

3d激光雷达开发(平面分割)_点云

4、执行exe文件

        主要是查看非平面数据有没有被算法剔除。

3d激光雷达开发(平面分割)_#include_02

 

 

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