Pcl 点云多边缘 直线拟合 代码

以下是基于PCL（点云库）的多边形和直线拟合代码示例：

多边形拟合：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/features/normal_3d.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_polygonal_prism_data.h>

int main(int argc, char** argv)
{
  // 加载点云数据
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
  pcl::io::loadPCDFile<pcl::PointXYZ>("table_scene_lms400.pcd", *cloud);

  // 创建法线估计对象
  pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
  pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
  pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);
  tree->setInputCloud(cloud);
  ne.setInputCloud(cloud);
  ne.setSearchMethod(tree);
  ne.setKSearch(50);
  ne.compute(*normals);

  // 多边形分割
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_plane(new pcl::PointCloud<pcl::PointXYZ>);
  pcl::ModelCoefficients::Ptr coefficients_plane(new pcl::ModelCoefficients);
  pcl::SACSegmentationFromNormals<pcl::PointXYZ, pcl::Normal> seg;
  seg.setOptimizeCoefficients(true);
  seg.setModelType(pcl::SACMODEL_NORMAL_PLANE);
  seg.setNormalDistanceWeight(0.1);
  seg.setMethodType(pcl::SAC_RANSAC);
  seg.setMaxIterations(100);
  seg.setDistanceThreshold(0.03);
  seg.setInputCloud(cloud);
  seg.setInputNormals(normals);
  seg.segment(*inliers_plane, *coefficients_plane);

  // 提取多边形数据
  pcl::ExtractPolygonalPrismData<pcl::PointXYZ> ex;
  pcl::PointIndices::Ptr inliers(new pcl::PointIndices);
  ex.setHeightLimits(0.01, 1.0);
  ex.setInputCloud(cloud);
  ex.setInputPlanarHull(cloud_plane);
  ex.segment(*inliers);

  // 输出结果
  std::cerr << "Number of inliers: " << inliers->indices.size() << std::endl;
  for (int i = 0; i < inliers->indices.size(); ++i)
    std::cerr << inliers->indices[i] << "    " <<
      cloud->points[inliers->indices[i]].x << " " <<
      cloud->points[inliers->indices[i]].y << " " <<
      cloud->points[inliers->indices[i]].z << std::endl;
  return (0);
}

直线拟合：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/features/normal_3d.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>

int main(int argc, char** argv)
{
  // 加载点云数据
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::