extract indecies 源码 为什么reader读不进去pcd文件呢?我想是否因为配置问题?
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#include "stdafx.h"
#include <iostream>
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/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>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/extract_indices.h>
int
main (int argc, char** argv)
{
sensor_msgs::PointCloud2::Ptr cloud_blob (new sensor_msgs::PointCloud2), cloud_filtered_blob (new sensor_msgs::PointCloud2);
//pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_blob (new pcl::PointCloud<pcl::PointXYZ>), cloud_filtered_blob (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>), cloud_p (new pcl::PointCloud<pcl::PointXYZ>), cloud_f (new pcl::PointCloud<pcl::PointXYZ>);
// 填入点云数据
pcl::PCDReader reader;
reader.read("table_scene_lms400.pcd", *cloud_blob);//是否没有读取进去???????调试在这儿有为问题
int wid=cloud_blob->width;
int hgt=cloud_blob->height;
int datasize=cloud_blob->width * cloud_blob->height;
std::cerr << "PointCloud before filtering: " <<datasize<< " data points." << std::endl;
// 创建滤波器对象:使用叶大小为1cm的下采样
pcl::VoxelGrid<sensor_msgs::PointCloud2> sor;
sor.setInputCloud (cloud_blob);
sor.setLeafSize (0.01f, 0.01f, 0.01f);
sor.filter (*cloud_filtered_blob);
// 转化为模板点云
pcl::fromROSMsg (*cloud_filtered_blob, *cloud_filtered);
datasize=cloud_filtered->width * cloud_filtered->height;
std::cerr << "PointCloud after filtering: " <<datasize<< " ; points." << std::endl;
// 将下采样后的数据存入磁盘
pcl::PCDWriter writer;
writer.write<pcl::PointXYZ> ("table_scene_lms400_downsampled.pcd", *cloud_filtered, false);
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
seg.setOptimizeCoefficients (true);
// 必选
seg.setModelType (pcl::SACMODEL_PLANE);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setMaxIterations (1000);
seg.setDistanceThreshold (0.03);
// 创建滤波器对象
pcl::ExtractIndices<pcl::PointXYZ> extract;
int i = 0, nr_points = (int) cloud_filtered->points.size ();
// 当还有30%原始点云数据时
while (cloud_filtered->points.size () > 0.3 * nr_points)
{
// 从余下的点云中分割最大平面组成部分
seg.setInputCloud (cloud_filtered);
seg.segment (*inliers, *coefficients);
if (inliers->indices.size () == 0)
{
std::cerr << "Could not estimate a planar model for the given dataset." << std::endl;
break;
}
// 分离内层
extract.setInputCloud (cloud_filtered);
extract.setIndices (inliers);
extract.setNegative (false);
extract.filter (*cloud_p);
std::cerr << "PointCloud representing the planar component: " << cloud_p->width * cloud_p->height << " data points." << std::endl;
std::stringstream ss;
ss << "table_scene_lms400_plane_" << i << ".pcd";
writer.write<pcl::PointXYZ> (ss.str (), *cloud_p, false);
// 创建滤波器对象
extract.setNegative (true);
extract.filter (*cloud_f);
cloud_filtered.swap (cloud_f);
i++;
}
return (0);
#include <iostream>
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/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>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/extract_indices.h>
int
main (int argc, char** argv)
{
sensor_msgs::PointCloud2::Ptr cloud_blob (new sensor_msgs::PointCloud2), cloud_filtered_blob (new sensor_msgs::PointCloud2);
//pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_blob (new pcl::PointCloud<pcl::PointXYZ>), cloud_filtered_blob (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZ>), cloud_p (new pcl::PointCloud<pcl::PointXYZ>), cloud_f (new pcl::PointCloud<pcl::PointXYZ>);
// 填入点云数据
pcl::PCDReader reader;
reader.read("table_scene_lms400.pcd", *cloud_blob);//是否没有读取进去???????调试在这儿有为问题
int wid=cloud_blob->width;
int hgt=cloud_blob->height;
int datasize=cloud_blob->width * cloud_blob->height;
std::cerr << "PointCloud before filtering: " <<datasize<< " data points." << std::endl;
// 创建滤波器对象:使用叶大小为1cm的下采样
pcl::VoxelGrid<sensor_msgs::PointCloud2> sor;
sor.setInputCloud (cloud_blob);
sor.setLeafSize (0.01f, 0.01f, 0.01f);
sor.filter (*cloud_filtered_blob);
// 转化为模板点云
pcl::fromROSMsg (*cloud_filtered_blob, *cloud_filtered);
datasize=cloud_filtered->width * cloud_filtered->height;
std::cerr << "PointCloud after filtering: " <<datasize<< " ; points." << std::endl;
// 将下采样后的数据存入磁盘
pcl::PCDWriter writer;
writer.write<pcl::PointXYZ> ("table_scene_lms400_downsampled.pcd", *cloud_filtered, false);
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
seg.setOptimizeCoefficients (true);
// 必选
seg.setModelType (pcl::SACMODEL_PLANE);
seg.setMethodType (pcl::SAC_RANSAC);
seg.setMaxIterations (1000);
seg.setDistanceThreshold (0.03);
// 创建滤波器对象
pcl::ExtractIndices<pcl::PointXYZ> extract;
int i = 0, nr_points = (int) cloud_filtered->points.size ();
// 当还有30%原始点云数据时
while (cloud_filtered->points.size () > 0.3 * nr_points)
{
// 从余下的点云中分割最大平面组成部分
seg.setInputCloud (cloud_filtered);
seg.segment (*inliers, *coefficients);
if (inliers->indices.size () == 0)
{
std::cerr << "Could not estimate a planar model for the given dataset." << std::endl;
break;
}
// 分离内层
extract.setInputCloud (cloud_filtered);
extract.setIndices (inliers);
extract.setNegative (false);
extract.filter (*cloud_p);
std::cerr << "PointCloud representing the planar component: " << cloud_p->width * cloud_p->height << " data points." << std::endl;
std::stringstream ss;
ss << "table_scene_lms400_plane_" << i << ".pcd";
writer.write<pcl::PointXYZ> (ss.str (), *cloud_p, false);
// 创建滤波器对象
extract.setNegative (true);
extract.filter (*cloud_f);
cloud_filtered.swap (cloud_f);
i++;
}
return (0);
}
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