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<!-- Local TOC -->
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<div class="local-toc"><ul>
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<li><a class="reference internal" href="#">Cylinder model segmentation</a></li>
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<li><a class="reference internal" href="#the-code">The code</a></li>
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<li><a class="reference internal" href="#the-explanation">The explanation</a></li>
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<li>Cylinder model segmentation</li>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div itemprop="articleBody">
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<div class="section" id="cylinder-model-segmentation">
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<span id="cylinder-segmentation"></span><h1>Cylinder model segmentation</h1>
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<p>This tutorial exemplifies how to run a Sample Consensus segmentation for
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cylindrical models. To make the example a bit more practical, the following
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operations are applied to the input dataset (in order):</p>
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<ul class="simple">
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<li>data points further away than 1.5 meters are filtered</li>
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<li>surface normals at each point are estimated</li>
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<li>a plane model (describing the table in our demo dataset) is segmented and saved to disk</li>
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<li>a cylindrical model (describing the mug in our demo dataset) is segmented and saved to disk</li>
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</ul>
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<iframe title="Cylinder model segmentation" width="480" height="390" src="https://www.youtube.com/embed/SjbEDEGAeTk?rel=0" frameborder="0" allowfullscreen></iframe><div class="admonition note">
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<p class="first admonition-title">Note</p>
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<p class="last">The cylindrical model is not perfect due to the presence of noise in the data.</p>
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</div>
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</div>
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<div class="section" id="the-code">
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<h1>The code</h1>
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<p>First, download the dataset <a class="reference external" href="https://raw.github.com/PointCloudLibrary/data/master/tutorials/table_scene_mug_stereo_textured.pcd">table_scene_mug_stereo_textured.pcd</a>
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and save it somewhere to disk.</p>
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<p>Then, create a file, let’s say, <code class="docutils literal notranslate"><span class="pre">cylinder_segmentation.cpp</span></code> in your favorite
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editor, and place the following inside it:</p>
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113</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf"><pcl/ModelCoefficients.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/io/pcd_io.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/point_types.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/filters/extract_indices.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/filters/passthrough.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/features/normal_3d.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/sample_consensus/method_types.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/sample_consensus/model_types.h></span><span class="cp"></span>
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<span class="cp">#include</span> <span class="cpf"><pcl/segmentation/sac_segmentation.h></span><span class="cp"></span>
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<span class="k">typedef</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointXYZ</span> <span class="n">PointT</span><span class="p">;</span>
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<span class="kt">int</span>
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<span class="nf">main</span> <span class="p">()</span>
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<span class="p">{</span>
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<span class="c1">// All the objects needed</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PCDReader</span> <span class="n">reader</span><span class="p">;</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PassThrough</span><span class="o"><</span><span class="n">PointT</span><span class="o">></span> <span class="n">pass</span><span class="p">;</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">NormalEstimation</span><span class="o"><</span><span class="n">PointT</span><span class="p">,</span> <span class="n">pcl</span><span class="o">::</span><span class="n">Normal</span><span class="o">></span> <span class="n">ne</span><span class="p">;</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">SACSegmentationFromNormals</span><span class="o"><</span><span class="n">PointT</span><span class="p">,</span> <span class="n">pcl</span><span class="o">::</span><span class="n">Normal</span><span class="o">></span> <span class="n">seg</span><span class="p">;</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PCDWriter</span> <span class="n">writer</span><span class="p">;</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">ExtractIndices</span><span class="o"><</span><span class="n">PointT</span><span class="o">></span> <span class="n">extract</span><span class="p">;</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">ExtractIndices</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">Normal</span><span class="o">></span> <span class="n">extract_normals</span><span class="p">;</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">search</span><span class="o">::</span><span class="n">KdTree</span><span class="o"><</span><span class="n">PointT</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">tree</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">search</span><span class="o">::</span><span class="n">KdTree</span><span class="o"><</span><span class="n">PointT</span><span class="o">></span> <span class="p">());</span>
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||
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<span class="c1">// Datasets</span>
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||
<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">PointT</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">PointT</span><span class="o">></span><span class="p">);</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">PointT</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud_filtered</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">PointT</span><span class="o">></span><span class="p">);</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">Normal</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud_normals</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">Normal</span><span class="o">></span><span class="p">);</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">PointT</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud_filtered2</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">PointT</span><span class="o">></span><span class="p">);</span>
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||
<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">Normal</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud_normals2</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">pcl</span><span class="o">::</span><span class="n">Normal</span><span class="o">></span><span class="p">);</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">ModelCoefficients</span><span class="o">::</span><span class="n">Ptr</span> <span class="n">coefficients_plane</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">ModelCoefficients</span><span class="p">),</span> <span class="n">coefficients_cylinder</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">ModelCoefficients</span><span class="p">);</span>
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<span class="n">pcl</span><span class="o">::</span><span class="n">PointIndices</span><span class="o">::</span><span class="n">Ptr</span> <span class="n">inliers_plane</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointIndices</span><span class="p">),</span> <span class="n">inliers_cylinder</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointIndices</span><span class="p">);</span>
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<span class="c1">// Read in the cloud data</span>
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||
<span class="n">reader</span><span class="p">.</span><span class="n">read</span> <span class="p">(</span><span class="s">"table_scene_mug_stereo_textured.pcd"</span><span class="p">,</span> <span class="o">*</span><span class="n">cloud</span><span class="p">);</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"PointCloud has: "</span> <span class="o"><<</span> <span class="n">cloud</span><span class="o">-></span><span class="n">size</span> <span class="p">()</span> <span class="o"><<</span> <span class="s">" data points."</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
|
||
<span class="c1">// Build a passthrough filter to remove spurious NaNs and scene background</span>
|
||
<span class="n">pass</span><span class="p">.</span><span class="n">setInputCloud</span> <span class="p">(</span><span class="n">cloud</span><span class="p">);</span>
|
||
<span class="n">pass</span><span class="p">.</span><span class="n">setFilterFieldName</span> <span class="p">(</span><span class="s">"z"</span><span class="p">);</span>
|
||
<span class="n">pass</span><span class="p">.</span><span class="n">setFilterLimits</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mf">1.5</span><span class="p">);</span>
|
||
<span class="n">pass</span><span class="p">.</span><span class="n">filter</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_filtered</span><span class="p">);</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"PointCloud after filtering has: "</span> <span class="o"><<</span> <span class="n">cloud_filtered</span><span class="o">-></span><span class="n">size</span> <span class="p">()</span> <span class="o"><<</span> <span class="s">" data points."</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
|
||
<span class="c1">// Estimate point normals</span>
|
||
<span class="n">ne</span><span class="p">.</span><span class="n">setSearchMethod</span> <span class="p">(</span><span class="n">tree</span><span class="p">);</span>
|
||
<span class="n">ne</span><span class="p">.</span><span class="n">setInputCloud</span> <span class="p">(</span><span class="n">cloud_filtered</span><span class="p">);</span>
|
||
<span class="n">ne</span><span class="p">.</span><span class="n">setKSearch</span> <span class="p">(</span><span class="mi">50</span><span class="p">);</span>
|
||
<span class="n">ne</span><span class="p">.</span><span class="n">compute</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_normals</span><span class="p">);</span>
|
||
|
||
<span class="c1">// Create the segmentation object for the planar model and set all the parameters</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setOptimizeCoefficients</span> <span class="p">(</span><span class="nb">true</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setModelType</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">SACMODEL_NORMAL_PLANE</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setNormalDistanceWeight</span> <span class="p">(</span><span class="mf">0.1</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setMethodType</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">SAC_RANSAC</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setMaxIterations</span> <span class="p">(</span><span class="mi">100</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setDistanceThreshold</span> <span class="p">(</span><span class="mf">0.03</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setInputCloud</span> <span class="p">(</span><span class="n">cloud_filtered</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setInputNormals</span> <span class="p">(</span><span class="n">cloud_normals</span><span class="p">);</span>
|
||
<span class="c1">// Obtain the plane inliers and coefficients</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">segment</span> <span class="p">(</span><span class="o">*</span><span class="n">inliers_plane</span><span class="p">,</span> <span class="o">*</span><span class="n">coefficients_plane</span><span class="p">);</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"Plane coefficients: "</span> <span class="o"><<</span> <span class="o">*</span><span class="n">coefficients_plane</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
|
||
<span class="c1">// Extract the planar inliers from the input cloud</span>
|
||
<span class="n">extract</span><span class="p">.</span><span class="n">setInputCloud</span> <span class="p">(</span><span class="n">cloud_filtered</span><span class="p">);</span>
|
||
<span class="n">extract</span><span class="p">.</span><span class="n">setIndices</span> <span class="p">(</span><span class="n">inliers_plane</span><span class="p">);</span>
|
||
<span class="n">extract</span><span class="p">.</span><span class="n">setNegative</span> <span class="p">(</span><span class="nb">false</span><span class="p">);</span>
|
||
|
||
<span class="c1">// Write the planar inliers to disk</span>
|
||
<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">PointT</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud_plane</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">PointT</span><span class="o">></span> <span class="p">());</span>
|
||
<span class="n">extract</span><span class="p">.</span><span class="n">filter</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_plane</span><span class="p">);</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"PointCloud representing the planar component: "</span> <span class="o"><<</span> <span class="n">cloud_plane</span><span class="o">-></span><span class="n">size</span> <span class="p">()</span> <span class="o"><<</span> <span class="s">" data points."</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
<span class="n">writer</span><span class="p">.</span><span class="n">write</span> <span class="p">(</span><span class="s">"table_scene_mug_stereo_textured_plane.pcd"</span><span class="p">,</span> <span class="o">*</span><span class="n">cloud_plane</span><span class="p">,</span> <span class="nb">false</span><span class="p">);</span>
|
||
|
||
<span class="c1">// Remove the planar inliers, extract the rest</span>
|
||
<span class="n">extract</span><span class="p">.</span><span class="n">setNegative</span> <span class="p">(</span><span class="nb">true</span><span class="p">);</span>
|
||
<span class="n">extract</span><span class="p">.</span><span class="n">filter</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_filtered2</span><span class="p">);</span>
|
||
<span class="n">extract_normals</span><span class="p">.</span><span class="n">setNegative</span> <span class="p">(</span><span class="nb">true</span><span class="p">);</span>
|
||
<span class="n">extract_normals</span><span class="p">.</span><span class="n">setInputCloud</span> <span class="p">(</span><span class="n">cloud_normals</span><span class="p">);</span>
|
||
<span class="n">extract_normals</span><span class="p">.</span><span class="n">setIndices</span> <span class="p">(</span><span class="n">inliers_plane</span><span class="p">);</span>
|
||
<span class="n">extract_normals</span><span class="p">.</span><span class="n">filter</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_normals2</span><span class="p">);</span>
|
||
|
||
<span class="c1">// Create the segmentation object for cylinder segmentation and set all the parameters</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setOptimizeCoefficients</span> <span class="p">(</span><span class="nb">true</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setModelType</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">SACMODEL_CYLINDER</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setMethodType</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">SAC_RANSAC</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setNormalDistanceWeight</span> <span class="p">(</span><span class="mf">0.1</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setMaxIterations</span> <span class="p">(</span><span class="mi">10000</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setDistanceThreshold</span> <span class="p">(</span><span class="mf">0.05</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setRadiusLimits</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setInputCloud</span> <span class="p">(</span><span class="n">cloud_filtered2</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setInputNormals</span> <span class="p">(</span><span class="n">cloud_normals2</span><span class="p">);</span>
|
||
|
||
<span class="c1">// Obtain the cylinder inliers and coefficients</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">segment</span> <span class="p">(</span><span class="o">*</span><span class="n">inliers_cylinder</span><span class="p">,</span> <span class="o">*</span><span class="n">coefficients_cylinder</span><span class="p">);</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"Cylinder coefficients: "</span> <span class="o"><<</span> <span class="o">*</span><span class="n">coefficients_cylinder</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
|
||
<span class="c1">// Write the cylinder inliers to disk</span>
|
||
<span class="n">extract</span><span class="p">.</span><span class="n">setInputCloud</span> <span class="p">(</span><span class="n">cloud_filtered2</span><span class="p">);</span>
|
||
<span class="n">extract</span><span class="p">.</span><span class="n">setIndices</span> <span class="p">(</span><span class="n">inliers_cylinder</span><span class="p">);</span>
|
||
<span class="n">extract</span><span class="p">.</span><span class="n">setNegative</span> <span class="p">(</span><span class="nb">false</span><span class="p">);</span>
|
||
<span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">PointT</span><span class="o">>::</span><span class="n">Ptr</span> <span class="n">cloud_cylinder</span> <span class="p">(</span><span class="k">new</span> <span class="n">pcl</span><span class="o">::</span><span class="n">PointCloud</span><span class="o"><</span><span class="n">PointT</span><span class="o">></span> <span class="p">());</span>
|
||
<span class="n">extract</span><span class="p">.</span><span class="n">filter</span> <span class="p">(</span><span class="o">*</span><span class="n">cloud_cylinder</span><span class="p">);</span>
|
||
<span class="k">if</span> <span class="p">(</span><span class="n">cloud_cylinder</span><span class="o">-></span><span class="n">points</span><span class="p">.</span><span class="n">empty</span> <span class="p">())</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"Can't find the cylindrical component."</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
<span class="k">else</span>
|
||
<span class="p">{</span>
|
||
<span class="n">std</span><span class="o">::</span><span class="n">cerr</span> <span class="o"><<</span> <span class="s">"PointCloud representing the cylindrical component: "</span> <span class="o"><<</span> <span class="n">cloud_cylinder</span><span class="o">-></span><span class="n">size</span> <span class="p">()</span> <span class="o"><<</span> <span class="s">" data points."</span> <span class="o"><<</span> <span class="n">std</span><span class="o">::</span><span class="n">endl</span><span class="p">;</span>
|
||
<span class="n">writer</span><span class="p">.</span><span class="n">write</span> <span class="p">(</span><span class="s">"table_scene_mug_stereo_textured_cylinder.pcd"</span><span class="p">,</span> <span class="o">*</span><span class="n">cloud_cylinder</span><span class="p">,</span> <span class="nb">false</span><span class="p">);</span>
|
||
<span class="p">}</span>
|
||
<span class="k">return</span> <span class="p">(</span><span class="mi">0</span><span class="p">);</span>
|
||
<span class="p">}</span>
|
||
</pre></div>
|
||
</td></tr></table></div>
|
||
</div>
|
||
<div class="section" id="the-explanation">
|
||
<h1>The explanation</h1>
|
||
<p>The only relevant lines are the lines below, as the other operations are
|
||
already described in the other tutorials.</p>
|
||
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span> <span class="c1">// Create the segmentation object for cylinder segmentation and set all the parameters</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setOptimizeCoefficients</span> <span class="p">(</span><span class="nb">true</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setModelType</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">SACMODEL_CYLINDER</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setMethodType</span> <span class="p">(</span><span class="n">pcl</span><span class="o">::</span><span class="n">SAC_RANSAC</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setNormalDistanceWeight</span> <span class="p">(</span><span class="mf">0.1</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setMaxIterations</span> <span class="p">(</span><span class="mi">10000</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setDistanceThreshold</span> <span class="p">(</span><span class="mf">0.05</span><span class="p">);</span>
|
||
<span class="n">seg</span><span class="p">.</span><span class="n">setRadiusLimits</span> <span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mf">0.1</span><span class="p">);</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>As seen, we’re using a RANSAC robust estimator to obtain the cylinder
|
||
coefficients, and we’re imposing a distance threshold from each inlier point to
|
||
the model no greater than 5cm. In addition, we set the surface normals
|
||
influence to a weight of 0.1, and we limit the radius of the cylindrical model
|
||
to be smaller than 10cm.</p>
|
||
</div>
|
||
<div class="section" id="compiling-and-running-the-program">
|
||
<h1>Compiling and running the program</h1>
|
||
<p>Add the following lines to your CMakeLists.txt file:</p>
|
||
<div class="highlight-cmake notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
|
||
2
|
||
3
|
||
4
|
||
5
|
||
6
|
||
7
|
||
8
|
||
9
|
||
10
|
||
11
|
||
12</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="nb">cmake_minimum_required</span><span class="p">(</span><span class="s">VERSION</span> <span class="s">3.5</span> <span class="s">FATAL_ERROR</span><span class="p">)</span>
|
||
|
||
<span class="nb">project</span><span class="p">(</span><span class="s">cylinder_segmentation</span><span class="p">)</span>
|
||
|
||
<span class="nb">find_package</span><span class="p">(</span><span class="s">PCL</span> <span class="s">1.2</span> <span class="s">REQUIRED</span><span class="p">)</span>
|
||
|
||
<span class="nb">include_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_INCLUDE_DIRS</span><span class="o">}</span><span class="p">)</span>
|
||
<span class="nb">link_directories</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_LIBRARY_DIRS</span><span class="o">}</span><span class="p">)</span>
|
||
<span class="nb">add_definitions</span><span class="p">(</span><span class="o">${</span><span class="nv">PCL_DEFINITIONS</span><span class="o">}</span><span class="p">)</span>
|
||
|
||
<span class="nb">add_executable</span> <span class="p">(</span><span class="s">cylinder_segmentation</span> <span class="s">cylinder_segmentation.cpp</span><span class="p">)</span>
|
||
<span class="nb">target_link_libraries</span> <span class="p">(</span><span class="s">cylinder_segmentation</span> <span class="o">${</span><span class="nv">PCL_LIBRARIES</span><span class="o">}</span><span class="p">)</span>
|
||
</pre></div>
|
||
</td></tr></table></div>
|
||
<p>After you have made the executable, you can run it. Simply do:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>$ ./cylinder_segmentation
|
||
</pre></div>
|
||
</div>
|
||
<p>You will see something similar to:</p>
|
||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">PointCloud</span> <span class="n">has</span><span class="p">:</span> <span class="mi">307200</span> <span class="n">data</span> <span class="n">points</span><span class="o">.</span>
|
||
<span class="n">PointCloud</span> <span class="n">after</span> <span class="n">filtering</span> <span class="n">has</span><span class="p">:</span> <span class="mi">139897</span> <span class="n">data</span> <span class="n">points</span><span class="o">.</span>
|
||
<span class="p">[</span><span class="n">pcl</span><span class="p">::</span><span class="n">SACSegmentationFromNormals</span><span class="p">::</span><span class="n">initSACModel</span><span class="p">]</span> <span class="n">Using</span> <span class="n">a</span> <span class="n">model</span> <span class="n">of</span> <span class="nb">type</span><span class="p">:</span> <span class="n">SACMODEL_NORMAL_PLANE</span>
|
||
<span class="p">[</span><span class="n">pcl</span><span class="p">::</span><span class="n">SACSegmentationFromNormals</span><span class="p">::</span><span class="n">initSACModel</span><span class="p">]</span> <span class="n">Setting</span> <span class="n">normal</span> <span class="n">distance</span> <span class="n">weight</span> <span class="n">to</span> <span class="mf">0.100000</span>
|
||
<span class="p">[</span><span class="n">pcl</span><span class="p">::</span><span class="n">SACSegmentationFromNormals</span><span class="p">::</span><span class="n">initSAC</span><span class="p">]</span> <span class="n">Using</span> <span class="n">a</span> <span class="n">method</span> <span class="n">of</span> <span class="nb">type</span><span class="p">:</span> <span class="n">SAC_RANSAC</span> <span class="k">with</span> <span class="n">a</span> <span class="n">model</span> <span class="n">threshold</span> <span class="n">of</span> <span class="mf">0.030000</span>
|
||
<span class="p">[</span><span class="n">pcl</span><span class="p">::</span><span class="n">SACSegmentationFromNormals</span><span class="p">::</span><span class="n">initSAC</span><span class="p">]</span> <span class="n">Setting</span> <span class="n">the</span> <span class="n">maximum</span> <span class="n">number</span> <span class="n">of</span> <span class="n">iterations</span> <span class="n">to</span> <span class="mi">100</span>
|
||
<span class="n">Plane</span> <span class="n">coefficients</span><span class="p">:</span> <span class="n">header</span><span class="p">:</span>
|
||
<span class="n">seq</span><span class="p">:</span> <span class="mi">0</span>
|
||
<span class="n">stamp</span><span class="p">:</span> <span class="mf">0.000000000</span>
|
||
<span class="n">frame_id</span><span class="p">:</span>
|
||
<span class="n">values</span><span class="p">[]</span>
|
||
<span class="n">values</span><span class="p">[</span><span class="mi">0</span><span class="p">]:</span> <span class="o">-</span><span class="mf">0.0161854</span>
|
||
<span class="n">values</span><span class="p">[</span><span class="mi">1</span><span class="p">]:</span> <span class="mf">0.837724</span>
|
||
<span class="n">values</span><span class="p">[</span><span class="mi">2</span><span class="p">]:</span> <span class="mf">0.545855</span>
|
||
<span class="n">values</span><span class="p">[</span><span class="mi">3</span><span class="p">]:</span> <span class="o">-</span><span class="mf">0.528787</span>
|
||
|
||
<span class="n">PointCloud</span> <span class="n">representing</span> <span class="n">the</span> <span class="n">planar</span> <span class="n">component</span><span class="p">:</span> <span class="mi">117410</span> <span class="n">data</span> <span class="n">points</span><span class="o">.</span>
|
||
<span class="p">[</span><span class="n">pcl</span><span class="p">::</span><span class="n">SACSegmentationFromNormals</span><span class="p">::</span><span class="n">initSACModel</span><span class="p">]</span> <span class="n">Using</span> <span class="n">a</span> <span class="n">model</span> <span class="n">of</span> <span class="nb">type</span><span class="p">:</span> <span class="n">SACMODEL_CYLINDER</span>
|
||
<span class="p">[</span><span class="n">pcl</span><span class="p">::</span><span class="n">SACSegmentationFromNormals</span><span class="p">::</span><span class="n">initSACModel</span><span class="p">]</span> <span class="n">Setting</span> <span class="n">radius</span> <span class="n">limits</span> <span class="n">to</span> <span class="mf">0.000000</span><span class="o">/</span><span class="mf">0.100000</span>
|
||
<span class="p">[</span><span class="n">pcl</span><span class="p">::</span><span class="n">SACSegmentationFromNormals</span><span class="p">::</span><span class="n">initSACModel</span><span class="p">]</span> <span class="n">Setting</span> <span class="n">normal</span> <span class="n">distance</span> <span class="n">weight</span> <span class="n">to</span> <span class="mf">0.100000</span>
|
||
<span class="p">[</span><span class="n">pcl</span><span class="p">::</span><span class="n">SACSegmentationFromNormals</span><span class="p">::</span><span class="n">initSAC</span><span class="p">]</span> <span class="n">Using</span> <span class="n">a</span> <span class="n">method</span> <span class="n">of</span> <span class="nb">type</span><span class="p">:</span> <span class="n">SAC_RANSAC</span> <span class="k">with</span> <span class="n">a</span> <span class="n">model</span> <span class="n">threshold</span> <span class="n">of</span> <span class="mf">0.050000</span>
|
||
<span class="p">[</span><span class="n">pcl</span><span class="p">::</span><span class="n">SampleConsensusModelCylinder</span><span class="p">::</span><span class="n">optimizeModelCoefficients</span><span class="p">]</span> <span class="n">LM</span> <span class="n">solver</span> <span class="n">finished</span> <span class="k">with</span> <span class="n">exit</span> <span class="n">code</span> <span class="mi">2</span><span class="p">,</span> <span class="n">having</span> <span class="n">a</span> <span class="n">residual</span> <span class="n">norm</span> <span class="n">of</span> <span class="mf">0.322616</span><span class="o">.</span>
|
||
<span class="n">Initial</span> <span class="n">solution</span><span class="p">:</span> <span class="mf">0.0452105</span> <span class="mf">0.0924601</span> <span class="mf">0.790215</span> <span class="mf">0.20495</span> <span class="o">-</span><span class="mf">0.721649</span> <span class="o">-</span><span class="mf">0.661225</span> <span class="mf">0.0422902</span>
|
||
<span class="n">Final</span> <span class="n">solution</span><span class="p">:</span> <span class="mf">0.0452105</span> <span class="mf">0.0924601</span> <span class="mf">0.790215</span> <span class="mf">0.20495</span> <span class="o">-</span><span class="mf">0.721649</span> <span class="o">-</span><span class="mf">0.661225</span> <span class="mf">0.0396354</span>
|
||
<span class="n">Cylinder</span> <span class="n">coefficients</span><span class="p">:</span> <span class="n">header</span><span class="p">:</span>
|
||
<span class="n">seq</span><span class="p">:</span> <span class="mi">0</span>
|
||
<span class="n">stamp</span><span class="p">:</span> <span class="mf">0.000000000</span>
|
||
<span class="n">frame_id</span><span class="p">:</span>
|
||
<span class="n">values</span><span class="p">[]</span>
|
||
<span class="n">values</span><span class="p">[</span><span class="mi">0</span><span class="p">]:</span> <span class="mf">0.0452105</span>
|
||
<span class="n">values</span><span class="p">[</span><span class="mi">1</span><span class="p">]:</span> <span class="mf">0.0924601</span>
|
||
<span class="n">values</span><span class="p">[</span><span class="mi">2</span><span class="p">]:</span> <span class="mf">0.790215</span>
|
||
<span class="n">values</span><span class="p">[</span><span class="mi">3</span><span class="p">]:</span> <span class="mf">0.20495</span>
|
||
<span class="n">values</span><span class="p">[</span><span class="mi">4</span><span class="p">]:</span> <span class="o">-</span><span class="mf">0.721649</span>
|
||
<span class="n">values</span><span class="p">[</span><span class="mi">5</span><span class="p">]:</span> <span class="o">-</span><span class="mf">0.661225</span>
|
||
<span class="n">values</span><span class="p">[</span><span class="mi">6</span><span class="p">]:</span> <span class="mf">0.0396354</span>
|
||
|
||
<span class="n">PointCloud</span> <span class="n">representing</span> <span class="n">the</span> <span class="n">cylindrical</span> <span class="n">component</span><span class="p">:</span> <span class="mi">8625</span> <span class="n">data</span> <span class="n">points</span><span class="o">.</span>
|
||
</pre></div>
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