pcl::RANSAC 分割，获取云中的所有平面？

Question

我有一个点云库函数，可以检测点云中的最大平面。这很好用。现在，我想扩展此功能以分割出云中的每个平面并将这些点复制到新的云中（例如，房间地板上有球体的场景会把地板和墙壁还给我，但不是球体，因为它不是平面的）。我如何扩展以下代码以获得所有飞机，而不仅仅是最大的飞机？（运行时间是这里的一个因素，所以我不想只是运行循环中的相同代码，每次都剥离出新的最大平面）

int
main(int argc, char** argv)
{
    pcl::visualization::CloudViewer viewer("viewer1");

    pcl::PCLPointCloud2::Ptr cloud_blob(new pcl::PCLPointCloud2), cloud_filtered_blob(new pcl::PCLPointCloud2);
    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>);

    // Fill in the cloud data
    pcl::PCDReader reader;
    reader.read("clouds/table.pcd", *cloud_blob);

    // Create the filtering object: downsample the dataset using a leaf size of 1cm
    pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
    sor.setInputCloud(cloud_blob);
    sor.setLeafSize(0.01f, 0.01f, 0.01f);
    sor.filter(*cloud_filtered_blob);

    // Convert to the templated PointCloud
    pcl::fromPCLPointCloud2(*cloud_filtered_blob, *cloud_filtered);

    std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height << " data points." << std::endl;

    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
    pcl::PointIndices::Ptr inliers(new pcl::PointIndices());
    // Create the segmentation object
    pcl::SACSegmentation<pcl::PointXYZ> seg;
    // Optional
    seg.setOptimizeCoefficients(true);
    seg.setModelType(pcl::SACMODEL_PLANE);
    seg.setMethodType(pcl::SAC_RANSAC);
    seg.setMaxIterations(1000);
    seg.setDistanceThreshold(0.01);

    // Create the filtering object
    pcl::ExtractIndices<pcl::PointXYZ> extract;

    int i = 0, nr_points = (int)cloud_filtered->points.size();
    // While 30% of the original cloud is still there
    while (cloud_filtered->points.size() > 0.3 * nr_points)
    {
        // Segment the largest planar component from the remaining cloud
        seg.setInputCloud(cloud_filtered);
        pcl::ScopeTime scopeTime("Test loop");
        {
            seg.segment(*inliers, *coefficients);
        }
        if (inliers->indices.size() == 0)
        {
            std::cerr << "Could not estimate a planar model for the given dataset." << std::endl;
            break;
        }

        // Extract the inliers
        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;

        }

    viewer.showCloud(cloud_p, "viewer1");
    while (!viewer.wasStopped()) {}

    return (0);
}

Answer 1

一旦你得到第一个平面，删除点并使用算法计算一个新平面，直到估计的平面不再有任何点为止。第二种情况是因为使用 RANSAC，只要有足够的点，你总能找到一个平面。我在这里做了类似的事情（这是 ros 节点的回调）：

void pointCloudCb(const sensor_msgs::PointCloud2::ConstPtr &msg){

    // Convert to pcl point cloud
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_msg (new pcl::PointCloud<pcl::PointXYZ>);
    pcl::fromROSMsg(*msg,*cloud_msg);
    ROS_DEBUG("%s: new ponitcloud (%i,%i)(%zu)",_name.c_str(),cloud_msg->width,cloud_msg->height,cloud_msg->size());

    // Filter cloud
    pcl::PassThrough<pcl::PointXYZ> pass;
    pass.setInputCloud(cloud_msg);
    pass.setFilterFieldName ("z");
    pass.setFilterLimits(0.001,10000);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
    pass.filter (*cloud);

    // Get segmentation ready
    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
    pcl::PointIndices::Ptr inliers(new pcl::PointIndices);
    pcl::SACSegmentation<pcl::PointXYZ> seg;
    pcl::ExtractIndices<pcl::PointXYZ> extract;
    seg.setOptimizeCoefficients (true);
    seg.setModelType (pcl::SACMODEL_PLANE);
    seg.setMethodType (pcl::SAC_RANSAC);
    seg.setDistanceThreshold(_max_distance);

    // Create pointcloud to publish inliers
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_pub(new pcl::PointCloud<pcl::PointXYZRGB>);
    int original_size(cloud->height*cloud->width);
    int n_planes(0);
    while (cloud->height*cloud->width>original_size*_min_percentage/100){

        // Fit a plane
        seg.setInputCloud(cloud);
        seg.segment(*inliers, *coefficients);

        // Check result
        if (inliers->indices.size() == 0)
            break;

        // Iterate inliers
        double mean_error(0);
        double max_error(0);
        double min_error(100000);
        std::vector<double> err;
        for (int i=0;i<inliers->indices.size();i++){

            // Get Point
            pcl::PointXYZ pt = cloud->points[inliers->indices[i]];

            // Compute distance
            double d = point2planedistnace(pt,coefficients)*1000;// mm
            err.push_back(d);

            // Update statistics
            mean_error += d;
            if (d>max_error) max_error = d;
            if (d<min_error) min_error = d;

        }
        mean_error/=inliers->indices.size();

        // Compute Standard deviation
        ColorMap cm(min_error,max_error);
        double sigma(0);
        for (int i=0;i<inliers->indices.size();i++){

            sigma += pow(err[i] - mean_error,2);

            // Get Point
            pcl::PointXYZ pt = cloud->points[inliers->indices[i]];

            // Copy point to noew cloud
            pcl::PointXYZRGB pt_color;
            pt_color.x = pt.x;
            pt_color.y = pt.y;
            pt_color.z = pt.z;
            uint32_t rgb;
            if (_color_pc_with_error)
                rgb = cm.getColor(err[i]);
            else
                rgb = colors[n_planes].getColor();
            pt_color.rgb = *reinterpret_cast<float*>(&rgb);
            cloud_pub->points.push_back(pt_color);

        }
        sigma = sqrt(sigma/inliers->indices.size());

        // Extract inliers
        extract.setInputCloud(cloud);
        extract.setIndices(inliers);
        extract.setNegative(true);
        pcl::PointCloud<pcl::PointXYZ> cloudF;
        extract.filter(cloudF);
        cloud->swap(cloudF);

        // Display infor
        ROS_INFO("%s: fitted plane %i: %fx%s%fy%s%fz%s%f=0 (inliers: %zu/%i)",
                 _name.c_str(),n_planes,
                 coefficients->values[0],(coefficients->values[1]>=0?"+":""),
                 coefficients->values[1],(coefficients->values[2]>=0?"+":""),
                 coefficients->values[2],(coefficients->values[3]>=0?"+":""),
                 coefficients->values[3],
                 inliers->indices.size(),original_size);
        ROS_INFO("%s: mean error: %f(mm), standard deviation: %f (mm), max error: %f(mm)",_name.c_str(),mean_error,sigma,max_error);
        ROS_INFO("%s: poitns left in cloud %i",_name.c_str(),cloud->width*cloud->height);

        // Nest iteration
        n_planes++;
    }

    // Publish points
    sensor_msgs::PointCloud2 cloud_publish;
    pcl::toROSMsg(*cloud_pub,cloud_publish);
    cloud_publish.header = msg->header;
    _pub_inliers.publish(cloud_publish);
}

你可以找到整个节点here

Answer 2

为此我创建了这个方法：

1) 找到第一个平面

2) 获取点云中所有与平面中点接近的点

3) 使用线性回归通过平面近似此点

4) 重复1-3直到新平面不至于太小

pcl::RANSAC 分割，获取云中的所有平面？

pcl::RANSAC segmentation, get all planes in cloud?

c++

computer-vision

point-clouds

point-cloud-library

ransac