PCL凸包分割CropHull

程序需要一些原始数据，例如
1.bunny.pcd-源点云
2.hull.pcd-用于生成凸包的点云，也就是第一个点云的一部分。
也可使使用凹包进行分割，可以参考PCL计算ConvexHull凸包、ConcaveHull凹包
bunny.pcd

hull.pcd

out.pcd

下面附上代码：

#include 
#include 
#include 
#include 
#include 
#include using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;typedef PointXYZ PointT;
typedef PointCloud<PointT> CloudT;const static double default_alpha = 1e3f;static void
printHelp (int, char **argv)
{print_error ("Syntax is: %s hull_cloud.pcd input.pcd output.pcd \n", argv[0]);print_info ("  where options are:\n");print_info ("                     -alpha X = the hull alpha value (0+) (default: ");print_value ("%f", default_alpha);print_info (")\n");
}static bool
loadCloud (std::string const& filename, CloudT &cloud)
{TicToc tt;print_highlight ("Loading ");print_value ("%s ", filename.c_str ());tt.tic ();if (loadPCDFile (filename, cloud) < 0)return (false);print_info ("[done, ");print_value ("%g", tt.toc ());print_info (" ms : ");print_value ("%d", cloud.width * cloud.height);print_info (" points]\n");print_info ("Available dimensions: ");print_value ("%s\n", pcl::getFieldsList (cloud).c_str ());return (true);
}static void
saveCloud (std::string const& filename, CloudT const& cloud)
{TicToc tt;tt.tic ();print_highlight ("Saving ");print_value ("%s ", filename.c_str ());pcl::io::savePCDFile (filename, cloud);print_info ("[done, ");print_value ("%g", tt.toc ());print_info (" ms : ");print_value ("%d", cloud.width * cloud.height);print_info (" points]\n");
}static void
cropToHull (CloudT::Ptr output, CloudT::Ptr input, CloudT::Ptr hull_cloud, std::vector<pcl::Vertices> const& polygons, int dim)
{TicToc tt;tt.tic ();print_highlight ("Cropping ");CropHull<PointT> crop_filter;crop_filter.setInputCloud (input);crop_filter.setHullCloud (hull_cloud);crop_filter.setHullIndices (polygons);crop_filter.setDim (dim);crop_filter.filter (*output);print_info ("[done, ");print_value ("%g", tt.toc ());print_info (" ms : ");print_value ("%d", output->size());print_info (" points passed crop]\n");
}static CloudT::Ptr
calculateHull (std::vector<pcl::Vertices>& polygons, int& dim, CloudT::Ptr cloud, double alpha)
{pcl::ConcaveHull<PointT> hull_calculator;CloudT::Ptr hull (new CloudT);hull_calculator.setInputCloud (cloud);hull_calculator.setAlpha (alpha);hull_calculator.reconstruct (*hull, polygons);dim = hull_calculator.getDimension ();return hull;
}int
main (int argc, char** argv)
{print_info ("Filter a point cloud using the convex hull of another point ""cloud. For more information, use: %s -h\n", argv[0]);if (argc < 4){printHelp (argc, argv);return (-1);}// Parse the command line arguments for .pcd filesstd::vector<int> p_file_indices;p_file_indices = parse_file_extension_argument (argc, argv, ".pcd");if (p_file_indices.size () != 3){print_error ("Need at least three pcd files to continue.\n");return (-1);}// Command line parsingdouble alpha = default_alpha;parse_argument (argc, argv, "-alpha", alpha);CloudT::Ptr hull_cloud (new CloudT);CloudT::Ptr hull_points (new CloudT);CloudT::Ptr input_cloud (new CloudT);CloudT::Ptr output_cloud (new CloudT);std::vector<pcl::Vertices> hull_polygons;int dim = 0;  if (!loadCloud (argv[p_file_indices[0]], *hull_cloud))return (-1);if (!loadCloud (argv[p_file_indices[1]], *input_cloud))return (-1);hull_points = calculateHull (hull_polygons, dim, hull_cloud, alpha);cropToHull (output_cloud, input_cloud, hull_points, hull_polygons, dim);if (output_cloud->size ())saveCloud (argv[p_file_indices[2]], *output_cloud);elseprint_error ("No points passed crop.\n");return (0);
}

来源：PCL官方示例

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