PCL点云库：使用欧式聚类提取和可视化点云聚类 (C++)

#include <iostream>
#include <pcl/point_types.h>
#include <pcl/features/normal_3d.h>
#include <pcl/io/ply_io.h>
#include <pcl/kdtree/kdtree.h>
#include <pcl/segmentation/extract_clusters.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/visualization/cloud_viewer.h>

int main()
{
    // 读取点云数据
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr clouds(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::io::loadPLYFile<pcl::PointXYZ>('E:\dianyun\09 - Cloud.ply', *cloud);
    //将骨架点都添加到原始点云内
    for (const auto& point : clouds->points)
    {
        cloud->push_back(point);
    }
    //pcl::io::savePLYFileBinary('merged_cloud.ply', *cloud);

    // 创建kdtree对象
    pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
    tree->setInputCloud(cloud);

    // 设置已知点p为聚类起点
    int p_index = 100; // 假设已知点p的索引为100

    // 定义聚类对象
    pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec;
    ec.setClusterTolerance(0.005); // 设置聚类的容差
    ec.setMinClusterSize(100); // 设置聚类的最小点数
    ec.setMaxClusterSize(5000); // 设置聚类的最大点数
    ec.setSearchMethod(tree);
    ec.setInputCloud(cloud);

    // 设置聚类的种子点
    pcl::PointIndices::Ptr seed_indices(new pcl::PointIndices);

    seed_indices->indices.push_back(p_index);
    ec.setIndices(seed_indices);

    // 执行聚类
    std::vector<pcl::PointIndices> cluster_indices;
    ec.extract(cluster_indices);

    // 输出聚类结果
    for (const auto &indices : cluster_indices)
    {
        std::cout << 'Cluster with ' << indices.indices.size() << ' points:' << std::endl;
        for (const auto &index : indices.indices)
        {
            std::cout << '  (' << cloud->points[index].x << ', '
                << cloud->points[index].y << ', '
                << cloud->points[index].z << ')' << std::endl;
        }
        std::cout << std::endl;
    }

    // 可视化聚类结果
    pcl::visualization::CloudViewer viewer('Cluster Viewer');
    viewer.showCloud(cloud);
    while (!viewer.wasStopped())
    {
    }

    return 0;
}