C++ PCL 1.8.1 RANSAC 直线拟合：代码示例和可视化

#include #include <pcl/io/ply_io.h> #include <pcl/point_types.h> #include <pcl/visualization/pcl_visualizer.h> #include <pcl/sample_consensus/ransac.h> #include <pcl/sample_consensus/sac_model_line.h>

void ransacLineFitting(const pcl::PointCloudpcl::PointXYZ::Ptr& cloud) { pcl::PointCloudpcl::PointXYZ::Ptr cloud_filtered(new pcl::PointCloudpcl::PointXYZ); pcl::PointCloudpcl::PointXYZ::Ptr cloud_inliers(new pcl::PointCloudpcl::PointXYZ); pcl::PointCloudpcl::PointXYZ::Ptr cloud_outliers(new pcl::PointCloudpcl::PointXYZ);

// Create the segmentation object
pcl::SampleConsensusModelLine<pcl::PointXYZ>::Ptr model(new pcl::SampleConsensusModelLine<pcl::PointXYZ>(cloud));

pcl::RandomSampleConsensus<pcl::PointXYZ> ransac(model);
ransac.setDistanceThreshold(0.01);
ransac.computeModel();
ransac.getInliers(*cloud_inliers);
ransac.getOutliers(*cloud_outliers);

pcl::visualization::PCLVisualizer viewer("RANSAC Line Fitting");
viewer.setBackgroundColor(0, 0, 0);
viewer.addPointCloud<pcl::PointXYZ>(cloud, "cloud");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 1.0, 1.0, "cloud");

viewer.addPointCloud<pcl::PointXYZ>(cloud_inliers, "inliers");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.0, 0.0, "inliers");

viewer.addPointCloud<pcl::PointXYZ>(cloud_outliers, "outliers");
viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 0.0, 1.0, 0.0, "outliers");

viewer.spin();

pcl::io::savePLYFileASCII("D:\\DIANYUNWENJIANJIA\\ransac拟合直线_ply.ply", *cloud_inliers);

}

int main() { pcl::PointCloudpcl::PointXYZ::Ptr cloud(new pcl::PointCloudpcl::PointXYZ);

// Load point cloud data from file
if (pcl::io::loadPLYFile<pcl::PointXYZ>("your_point_cloud.ply", *cloud) == -1)
{
    std::cerr << "Failed to load point cloud data." << std::endl;
    return -1;
}

ransacLineFitting(cloud);

return 0;

}