PCL(26)cropHull任意多邊形內部點雲提取

#pragma warning(disable:4996)
#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::PCDReader reader;
	reader.read(argv[1], *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));

	pcl::ConvexHull<pcl::PointXYZ> hull;//凸包
	hull.setInputCloud(boundingbox_ptr);
	hull.setDimension(2);//設定凸包維度
	std::vector<pcl::Vertices> polygons;//儲存凸包頂點
	pcl::PointCloud<pcl::PointXYZ>::Ptr surface_hull(new pcl::PointCloud<pcl::PointXYZ>);
	hull.reconstruct(*surface_hull, polygons);

	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->size() << std::endl;

	//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");
}