PCL BoundaryEstimation進行邊界提取

一、算法原理

暫時沒看到，看到再補充。

二、代碼實現

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
#include <pcl/features/boundary.h>
#include <boost/make_shared.hpp>
#include <pcl/point_cloud.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/features/normal_3d.h>

using namespace std;

int
main()
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::io::loadPCDFile("16m1.pcd", *cloud);
	cout << "加載點雲" << cloud->points.size() << "個" << endl;
	pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;//計算法向量
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
	n.setInputCloud(cloud);
	n.setSearchMethod(tree);
	n.setRadiusSearch(1);
	pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
	n.compute(*normals);

	pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> boundEst;//邊界特徵估計
	boundEst.setInputCloud(cloud);
	boundEst.setInputNormals(normals);
	boundEst.setRadiusSearch(1);
	boundEst.setAngleThreshold(M_PI / 4);//邊界判斷時的角度閾值
	
	boundEst.setSearchMethod(tree);
	pcl::PointCloud<pcl::Boundary> boundaries;
	boundEst.compute(boundaries);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_boundary(new pcl::PointCloud<pcl::PointXYZ>);
	for (int i = 0; i < cloud->points.size(); i++)
	{

		if (boundaries[i].boundary_point > 0)
		{
			cloud_boundary->push_back(cloud->points[i]);
		}
	}
	cout << "邊界點個數:" << cloud_boundary->points.size() << endl;
	//pcl::io::savePCDFileASCII("75m2YY11.pcd", *cloud_boundary);
	boost::shared_ptr<pcl::visualization::PCLVisualizer> view(new pcl::visualization::PCLVisualizer("ShowCloud"));
	int v1(0);
	view->createViewPort(0.0, 0.0, 0.5, 1.0, v1);
	view->setBackgroundColor(0.3, 0.3, 0.3, v1);
	view->addText("Raw point clouds", 10, 10, "v1_text", v1);
	int v2(0);
	view->createViewPort(0.5, 0.0, 1, 1.0, v2);
	view->setBackgroundColor(0.5, 0.5, 0.5, v2);
	view->addText("Boudary point clouds", 10, 10, "v2_text", v2);

	view->addPointCloud<pcl::PointXYZ>(cloud, "sample cloud", v1);
	view->addPointCloud<pcl::PointXYZ>(cloud_boundary, "cloud_boundary", v2);
	view->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 0, 0, "sample cloud", v1);
	view->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 0, 1, 0, "cloud_boundary", v2);
	//view->addCoordinateSystem(1.0);
	//view->initCameraParameters();
	while (!view->wasStopped())
	{
		view->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

	return 0;
}

三、結果展示

四、官網鏈接pcl::BoundaryEstimation