PCL 点云分割 K-最近邻图算法分割

以下是使用PCL点云库实现基于欧几里得聚类的点云分割算法示例代码： ```c++ #include <iostream> #include <pcl/point_types.h> #include <pcl/filters/extract_indices.h> #include <pcl/segmentation/extract_clusters.h> #include <pcl/kdtree/kdtree.h> int main(int argc, char** argv) { // Load point cloud data pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); pcl::io::loadPCDFile("input_cloud.pcd", *cloud); // Create KDTree for efficient nearest neighbor search pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>); tree->setInputCloud(cloud); // Create vector for storing cluster indices std::vector<pcl::PointIndices> cluster_indices; // Create EuclideanClusterExtraction object and set parameters pcl::EuclideanClusterExtraction<pcl::PointXYZ> ec; ec.setClusterTolerance(0.02f); // Maximum distance between points in a cluster ec.setMinClusterSize(100); // Minimum number of points in a cluster ec.setMaxClusterSize(25000); // Maximum number of points in a cluster ec.setSearchMethod(tree); ec.setInputCloud(cloud); // Extract clusters ec.extract(cluster_indices); // Print number of clusters found std::cout << "Number of clusters found: " << cluster_indices.size() << std::endl; // Create ExtractIndices object for each cluster and save to file for (int i = 0; i < cluster_indices.size(); ++i) { pcl::ExtractIndices<pcl::PointXYZ> extract; extract.setInputCloud(cloud); extract.setIndices(boost::make_shared<const pcl::PointIndices>(cluster_indices[i])); pcl::PointCloud<pcl::PointXYZ>::Ptr cluster(new pcl::PointCloud<pcl::PointXYZ>); extract.filter(*cluster); pcl::io::savePCDFile("cluster_" + std::to_string(i) + ".pcd", *cluster); } return 0; } ``` 此代码将从名为“input_cloud.pcd”的文件中加载点云数据，使用KDTree进行最近邻搜索并执行欧几里得聚类，最后将每个簇的点保存到单独的PCD文件中。聚类的参数（聚类容差、最小/最大簇大小等）可以根据应用程序的需要进行调整。