PCL点云库：基于霍夫变换在Y轴上拟合平面

#include #include <pcl/io/ply_io.h> #include <pcl/point_types.h> #include <pcl/ModelCoefficients.h> #include <pcl/filters/extract_indices.h> #include <pcl/filters/voxel_grid.h> #include <pcl/features/normal_3d.h> #include <pcl/sample_consensus/method_types.h> #include <pcl/sample_consensus/model_types.h> #include <pcl/segmentation/sac_segmentation.h> #include <pcl/visualization/pcl_visualizer.h>

int main() { // 读取点云数据 pcl::PointCloudpcl::PointXYZ::Ptr cloud(new pcl::PointCloudpcl::PointXYZ); pcl::PLYReader reader; reader.read("D:\DIANYUNWENJIANJIA\newkruskal2_ply.ply", *cloud);

// 创建霍夫变换对象
pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
pcl::PointIndices::Ptr inliers(new pcl::PointIndices);
pcl::SACSegmentation<pcl::PointXYZ> seg;
seg.setOptimizeCoefficients(true);
seg.setModelType(pcl::SACMODEL_PLANE);
seg.setMethodType(pcl::SAC_RANSAC);
seg.setMaxIterations(1000);
seg.setDistanceThreshold(0.04);

// 设置模型系数
coefficients->values.resize(4);
coefficients->values[0] = 0;
coefficients->values[1] = 1;
coefficients->values[2] = 0;
coefficients->values[3] = 0;
seg.setAxis(coefficients->values[0], coefficients->values[1], coefficients->values[2]);
seg.setEpsAngle(pcl::deg2rad(5.0));

// 执行霍夫变换
seg.setInputCloud(cloud);
seg.segment(*inliers, *coefficients);

// 提取平面内点
pcl::ExtractIndices<pcl::PointXYZ> extract;
extract.setInputCloud(cloud);
extract.setIndices(inliers);
extract.setNegative(false);
pcl::PointCloud<pcl::PointXYZ>::Ptr plane(new pcl::PointCloud<pcl::PointXYZ>);
extract.filter(*plane);

// 可视化结果
pcl::visualization::PCLVisualizer viewer("3D Viewer");
viewer.setBackgroundColor(0, 0, 0);
viewer.addPointCloud<pcl::PointXYZ>(cloud, "cloud");
viewer.addPointCloud<pcl::PointXYZ>(plane, "plane");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 0, 0, "plane");
viewer.addCoordinateSystem(1.0);
viewer.initCameraParameters();
viewer.spin();

// 保存结果
pcl::PLYWriter writer;
writer.write("D:\\DIANYUNWENJIANJIA\\拟合平面_ply.ply", *plane);

return 0;

}