一、圆形检测

//搜寻所有的圆，知道找不到符合条件的圆，记录圆的圆心和半径int index=0;while(1){pcl::visualization::PCLVisualizer viewer2("Visualization of original and target point cloud");viewer2.setBackgroundColor(255,255,255);pcl::PointCloud<pcl::PointXYZ>::Ptr Circle2D(new pcl::PointCloud<pcl::PointXYZ>);pcl::PointCloud<pcl::PointXYZ>::Ptr tempRemain(new pcl::PointCloud<pcl::PointXYZ>);pcl::SampleConsensusModelCircle2D<pcl::PointXYZ>::Ptr model_circle2D(new pcl::SampleConsensusModelCircle2D<pcl::PointXYZ>(Src_Cloud_Planar));std::vector<int> inliers;pcl::RandomSampleConsensus<pcl::PointXYZ> ransac(model_circle2D);ransac.setDistanceThreshold(0.001);ransac.computeModel();ransac.getInliers(inliers);qDebug()<<"点云数量："<<inliers.size();//如果找不到圆，退出if(inliers.size()==0){break;}pcl::IndicesPtr tempinliers(new std::vector<int>(inliers));Eigen::VectorXf modelParas;ransac.getModelCoefficients(modelParas);std::cout << modelParas<< "\n\n";qDebug()<<modelParas(0);qDebug()<<modelParas(1);qDebug()<<modelParas(2);qDebug()<<"002!";//获取点和删除点2Dpcl::ExtractIndices<pcl::PointXYZ> Circle_extract;Circle_extract.setInputCloud(Src_Cloud_Planar);//输入点云Circle_extract.setIndices(tempinliers);Circle_extract.setNegative(false);Circle_extract.filter(*Circle2D);//line2D本次分割出的2D线--//删除点Circle_extract.setNegative(true);Circle_extract.filter(*tempRemain);*Src_Cloud_Planar = *tempRemain;//本次剩余的点云--//如果找不到圆，退出if(inliers.size()<=60){viewer2.close();continue;}//画圆环QVector<pcl::PointXYZ> points;double o_x = modelParas(0), o_y=modelParas(1), r = modelParas(2);    //圆心及半径for (int i = 0; i < 100; i++)   //计算圆环上点的坐标{pcl::PointXYZ point;double alpha = 2 * M_PI / (100 - 1);point.x = o_x + r * cos(i * alpha);point.y = o_y + r * sin(i * alpha);point.z = 0;points.push_back(point);}//将圆环上的点用线段连起来for (int i = 0; i < points.size() - 1; i++){viewer2.addLine(points.at(i), points.at(i + 1), QString("CircleLineX%1").arg(index).toStdString(), 0);index=index+1;}viewer2.addLine(points.at(points.size() - 1), points.at(0), QString("CircleLineX%1_%2").arg(points.size()).arg(5).toStdString(), 0);index=index+1;//-------------------原始点云和过滤目标点云可视化------------------------pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(Src_Cloud_Planar, 0, 255, 0);viewer2.addPointCloud<pcl::PointXYZ>(Src_Cloud_Planar, single_color, "Source clouds");while (!viewer2.wasStopped()){viewer2.spinOnce(1);}}qDebug()<<"003!";while (!viewer00.wasStopped()){viewer00.spinOnce(1);}

二、直线检测

// 直通滤波获取直线（删除后，多次循环即可）pcl::PointCloud<pcl::PointXYZ>::Ptr line2D(new pcl::PointCloud<pcl::PointXYZ>);pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_f2D(new pcl::PointCloud<pcl::PointXYZ>);pcl::PointCloud<pcl::PointXYZ>::Ptr ptCloud2D(new pcl::PointCloud<pcl::PointXYZ>);//创建一个模型参数对象，用于记录结果pcl::ModelCoefficients::Ptr coefficients3(new pcl::ModelCoefficients);//inliers表示误差能容忍的点 记录点云的序号pcl::PointIndices::Ptr inliers3(new pcl::PointIndices);// 创建一个分割器pcl::SACSegmentation<pcl::PointXYZ> seg;// Optionalseg.setOptimizeCoefficients(true);// Mandatory-设置目标几何形状seg.setModelType(pcl::SACMODEL_LINE);//SACMODEL_LINE SACMODEL_PLANE注：在这里面修改模型名称//分割方法：随机采样法seg.setMethodType(pcl::SAC_RANSAC);//SAC_RANSAC//最大的迭代的次数seg.setMaxIterations(100);//设置误差容忍范围seg.setDistanceThreshold(0.0005);//注：填写具体数值//输入点云seg.setInputCloud(Tgt_Cloud_Planar);//输入点云//分割点云seg.segment(*inliers3, *coefficients3);//获取点和删除点2Dpcl::ExtractIndices<pcl::PointXYZ> extract2;extract2.setInputCloud(Tgt_Cloud_Planar);//输入点云extract2.setIndices(inliers3);extract2.setNegative(false);extract2.filter(*line2D);//line2D本次分割出的2D线--//删除点（注：如果识别多条直线，则删除已经识别的电力线点云，然后循环）extract2.setNegative(true);extract2.filter(*cloud_f2D);*ptCloud2D = *cloud_f2D;//ptCloud2D本次剩余的点云--pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color3(line2D, 0, 0, 0);viewer00.addPointCloud<pcl::PointXYZ>(line2D, single_color3, "Target clouds90");//将直线上的点用线段连起来for (int i = 0; i < line2D->size() - 1; i++){viewer00.addLine(line2D->points[i], line2D->points[i+1], QString("LineX%1").arg(i).toStdString(), 0);}viewer00.addLine(line2D->points[line2D->size() - 1], line2D->points[0], QString("LineX%1_%2").arg(line2D->size()).arg(5).toStdString(), 0);qDebug()<<"size"<<line2D->size();qDebug()<<"003!";while (!viewer00.wasStopped()){viewer00.spinOnce(1);}

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