PCL 点云库学习六（提取任意多边形）

最新推荐文章于 2025-01-18 08:39:51 发布

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最新推荐文章于 2025-01-18 08:39:51 发布

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本文介绍了如何使用PCL库在C++中计算凸包，并通过PointCloud对象处理任意多边形。从读取PCD文件开始，通过ConvexHull类构造凸包，然后进行滤波操作，最后在PCLVisualizer中展示原始数据、凸包和结果。

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计算凸包算法
来自 pcl从入门到精通

提取任意多边形
构造凸多边形，提取或者剔除任意多边形

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/filters/crop_hull.h>
#include <pcl/surface/concave_hull.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
using namespace std;
using namespace pcl;
int main(int argc, const char** argv) {
    PointCloud<PointXYZ>::Ptr cloud(new PointCloud<PointXYZ>());
    PointCloud<PointXYZ>::Ptr cloudout(new PointCloud<PointXYZ>());    

    //构造变形顶点
    PointCloud<PointXYZ>::Ptr ployin(new PointCloud<PointXYZ>()); 
    PointCloud<PointXYZ>::Ptr ploygon(new PointCloud<PointXYZ>());   
    PCDReader RD;
    RD.read("/home/n1/notes/pcl/ploygon/pig.pcd",*cloud);
    ployin->push_back(PointXYZ(0.1,0.1,0));
    ployin->push_back(PointXYZ(0.1,-0.1,0));
    ployin->push_back(PointXYZ(-0.1,0.1,0));
    ployin->push_back(PointXYZ(-0.1,-0.1,0));
     ployin->push_back(PointXYZ(-0.2,-0.2,0));
    ployin->push_back(PointXYZ(0.15,0.1,0));

    //构造凸包
    ConvexHull<PointXYZ> HULL;
    HULL.setInputCloud(ployin);
    HULL.setDimension(2);     //设置多边形的维数 2维
    std::vector<pcl::Vertices> polygons;
    //std::vector<uint32_t> vertices;
    HULL.reconstruct(*ploygon,polygons);    //计算凸包

    //多边形滤波
    CropHull<PointXYZ> SURF_HULL;
    SURF_HULL.setDim(2);
    SURF_HULL.setInputCloud(cloud);         //查找的点云
    SURF_HULL.setHullIndices(polygons);     //凸包的索引值
    SURF_HULL.setHullCloud(ploygon);        //凸包的点云
    SURF_HULL.setCropOutside(false);        //false剔除 true 提取
    SURF_HULL.filter(*cloudout);
    
    boost::shared_ptr<pcl::visualization::PCLVisualizer> for_visualizer_v (new pcl::visualization::PCLVisualizer ("crophull display"));
	for_visualizer_v->setBackgroundColor(255,255,255);

    //在原始数据上显示凸包
	int v1(0);
	for_visualizer_v->createViewPort (0.0, 0.0, 0.33, 1, v1);
	for_visualizer_v->setBackgroundColor (255, 255, 255, v1);
	for_visualizer_v->addPointCloud (cloud,"cloud",v1);
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,255,0,0,"cloud");
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,3,"cloud");
	for_visualizer_v->addPolygon<pcl::PointXYZ>(ploygon,0,.069*255,0.2*255,"ployin",v1);
    //显示凸包
	int v2(0);
	for_visualizer_v->createViewPort (0.33, 0.0, 0.66, 1, v2);	
	for_visualizer_v->setBackgroundColor (255, 255, 255, v2);
	for_visualizer_v->addPointCloud (ploygon,"surface_hull",v2);
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,255,0,0,"surface_hull");
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,8,"surface_hull");
	for_visualizer_v->addPolygon<pcl::PointXYZ>(ploygon,0,.069*255,0.2*255,"ploygon",v2);

    //搜索结果
	int v3(0);
	for_visualizer_v->createViewPort (0.66, 0.0, 1, 1, v3);
	for_visualizer_v->setBackgroundColor (255, 255, 255, v3);
	for_visualizer_v->addPointCloud (cloudout,"cloudout",v3);
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR,255,0,0,"cloudout");
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,3,"cloudout");

	while (!for_visualizer_v->wasStopped())
	{

		for_visualizer_v->spinOnce(1000);
	}
    return 0;
}