【pcl学习笔记】使用CropHull 滤波器，二维多边形平面抠图3维点云生成多边形内部三维点云_pcl 能做到只有表面点位获取图形内部点位,三维图形-CSDN博客

本文链接：https://blog.csdn.net/weixin_42208807/article/details/109933098

本文介绍了一个使用PCL库实现点云裁剪和凸包可视化的示例程序。该程序首先加载一个名为“pig.pcd”的点云文件，并定义了一个用于裁剪的边界框。接着，通过构建凸包并利用此凸包作为裁剪条件来提取目标区域内的点云数据。最后，通过多视图展示了原始点云、凸包及裁剪后的点云。

摘要生成于 C知道，由 DeepSeek-R1 满血版支持，前往体验 >

#include <pcl/visualization/cloud_viewer.h>
#include <iostream>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <vector>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/crop_hull.h>
#include <pcl/surface/concave_hull.h>


int main(int argc, char **argv)
{
	pcl::PointCloud < pcl::PointXYZ >::Ptr cloud(new pcl::PointCloud < pcl::PointXYZ >);
	pcl::io::loadPCDFile("pig.pcd", *cloud);

	pcl::PointCloud<pcl::PointXYZ>::Ptr boundingbox_ptr(new pcl::PointCloud<pcl::PointXYZ>);
	boundingbox_ptr->push_back(pcl::PointXYZ(0.1, 0.1, 0));
	boundingbox_ptr->push_back(pcl::PointXYZ(0.1, -0.1, 0));
	boundingbox_ptr->push_back(pcl::PointXYZ(-0.1, 0.1, 0));
	boundingbox_ptr->push_back(pcl::PointXYZ(-0.1, -0.1, 0));
	boundingbox_ptr->push_back(pcl::PointXYZ(0.15, 0.1, 0));

//建立convexHull的对象
	pcl::ConvexHull<pcl::PointXYZ> hull;
	hull.setInputCloud(boundingbox_ptr);
	hull.setDimension(2);
	std::vector<pcl::Vertices> polygons;
	pcl::PointCloud<pcl::PointXYZ>::Ptr surface_hull(new pcl::PointCloud<pcl::PointXYZ>);
	hull.reconstruct(*surface_hull, polygons);

//使用创建的convexHull 使用CropHull进行分割出来点云
	pcl::PointCloud<pcl::PointXYZ>::Ptr objects(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::CropHull<pcl::PointXYZ>bb_filter;
	bb_filter.setDim(2);
	bb_filter.setInputCloud(cloud);
	bb_filter.setHullIndices(polygons);
	bb_filter.setHullCloud(surface_hull);
	bb_filter.filter(*objects);
	std::cout << objects->points.size() << std::endl;


//多点云显示
	//visualize
	boost::shared_ptr<pcl::visualization::PCLVisualizer> for_visualizer_v(new pcl::visualization::PCLVisualizer("crophull display"));
	for_visualizer_v->setBackgroundColor(255, 255, 255);

	int v1(0);
	for_visualizer_v->createViewPort(0.0, 0.0, 0.33, 1, v1);
	for_visualizer_v->setBackgroundColor(255, 255, 255, v1);
	for_visualizer_v->addPointCloud(cloud, "cloud", v1);
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 255, 0, 0, "cloud");
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "cloud");
	for_visualizer_v->addPolygon<pcl::PointXYZ>(surface_hull, 0, .069 * 255, 0.2 * 255, "backview_hull_polyline1", v1);

	int v2(0);
	for_visualizer_v->createViewPort(0.33, 0.0, 0.66, 1, v2);
	for_visualizer_v->setBackgroundColor(255, 255, 255, v2);
	for_visualizer_v->addPointCloud(surface_hull, "surface_hull", v2);
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 255, 0, 0, "surface_hull");
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 8, "surface_hull");
	for_visualizer_v->addPolygon<pcl::PointXYZ>(surface_hull, 0, .069 * 255, 0.2 * 255, "backview_hull_polyline", v2);

	int v3(0);
	for_visualizer_v->createViewPort(0.66, 0.0, 1, 1, v3);
	for_visualizer_v->setBackgroundColor(255, 255, 255, v3);
	for_visualizer_v->addPointCloud(objects, "objects", v3);
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 255, 0, 0, "objects");
	for_visualizer_v->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "objects");

	while (!for_visualizer_v->wasStopped())
	{

		for_visualizer_v->spinOnce(1000);
	}
	system("pause");

}