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Color-based region growing segmentation 使用的是PCL1.7.2ALL_IN_ONE,在VS2012中运行的。
代码如下:// RegionGrowingANDRegionGrowingRGB.cpp : 定义控制台应用程序的入口点。//
#include "stdafx.h"
#include <iostream>
#include <vector>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/search/search.h>
#include <pcl/search/kdtree.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/filters/passthrough.h>
#include <pcl/segmentation/region_growing_rgb.h>
#include <iostream>
#include <vector>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/search/search.h>
#include <pcl/search/kdtree.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/filters/passthrough.h>
#include <pcl/segmentation/region_growing_rgb.h>
int
main (int argc, char** argv)
{
pcl::search::Search <pcl::PointXYZRGB>::Ptr tree = boost::shared_ptr<pcl::search::Search<pcl::PointXYZRGB> > (new pcl::search::KdTree<pcl::PointXYZRGB>);
pcl::PointCloud <pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud <pcl::PointXYZRGB>);
if ( pcl::io::loadPCDFile <pcl::PointXYZRGB> ("region_growing_rgb_tutorial.pcd", *cloud) == -1 )
{
std::cout << "Cloud reading failed." << std::endl;
return (-1);
}
pcl::IndicesPtr indices (new std::vector <int>);
pcl::PassThrough<pcl::PointXYZRGB> pass;
pass.setInputCloud (cloud);
pass.setFilterFieldName ("z");
pass.setFilterLimits (0.0, 1.0);
pass.filter (*indices);
pcl::RegionGrowingRGB<pcl::PointXYZRGB> reg;
reg.setInputCloud (cloud);
reg.setIndices (indices);
reg.setSearchMethod (tree);
reg.setDistanceThreshold (10);
reg.setPointColorThreshold (6);
reg.setRegionColorThreshold (5);
reg.setMinClusterSize (600);
std::vector <pcl::PointIndices> clusters;
reg.extract (clusters);
pcl::PointCloud <pcl::PointXYZRGB>::Ptr colored_cloud = reg.getColoredCloud ();
pcl::visualization::CloudViewer viewer ("Cluster viewer");
viewer.showCloud (colored_cloud);
while (!viewer.wasStopped ())
{
boost::this_thread::sleep (boost::posix_time::microseconds (100));
}
return (0);
}
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