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segmentation_cylinder.cpp

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/*
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * $Id: segmentation_cylinder.cpp 35522 2011-01-26 08:17:01Z rusu $
 *
 */

#include <pcl/ModelCoefficients.h>

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>

#include <pcl/features/normal_3d.h>

#include <pcl/filters/extract_indices.h>
#include <pcl/filters/passthrough.h>

#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>

typedef pcl::PointXYZ PointT;

/* ---[ */
int
  main (int argc, char** argv)
{
  // All the objects needed
  pcl::PCDReader reader;
  pcl::PassThrough<PointT> pass;
  pcl::NormalEstimation<PointT, pcl::Normal> ne;
  pcl::SACSegmentationFromNormals<PointT, pcl::Normal> seg;
  pcl::PCDWriter writer;
  pcl::ExtractIndices<PointT> extract;
  pcl::ExtractIndices<pcl::Normal> extract_normals;
  pcl::KdTreeFLANN<PointT>::Ptr tree (new pcl::KdTreeFLANN<PointT> ());

  // Datasets
  pcl::PointCloud<PointT>::Ptr cloud (new pcl::PointCloud<PointT> ());
  pcl::PointCloud<PointT>::Ptr cloud_filtered (new pcl::PointCloud<PointT> ());
  pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal> ());
  pcl::ModelCoefficients::Ptr coefficients_plane (new pcl::ModelCoefficients ()), coefficients_cylinder (new pcl::ModelCoefficients ());
  pcl::PointIndices::Ptr inliers_plane (new pcl::PointIndices ()), inliers_cylinder (new pcl::PointIndices ());

  // Read in the cloud data
  reader.read ("data/table_scene_mug_stereo_textured.pcd", *cloud);
  ROS_INFO ("PointCloud has: %zu data points.", cloud->points.size ());

  // Build a passthrough filter to remove spurious NaNs
  pass.setInputCloud (cloud);
  pass.setFilterFieldName ("z");
  pass.setFilterLimits (0, 1.5);
  pass.filter (*cloud_filtered);
  ROS_INFO ("PointCloud after filtering has: %zu data points.", cloud_filtered->points.size ());

  // Estimate point normals
  ne.setSearchMethod (tree);
  ne.setInputCloud (cloud_filtered);
  ne.setKSearch (50);
  ne.compute (*cloud_normals);

  // Create the segmentation object for the planar model and set all the parameters
  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_filtered);
  seg.setInputNormals (cloud_normals);
  // Obtain the plane inliers and coefficients
  seg.segment (*inliers_plane, *coefficients_plane);
  std::cerr << "Plane coefficients: " << *coefficients_plane << std::endl;

  // Extract the planar inliers from the input cloud
  extract.setInputCloud (cloud_filtered);
  extract.setIndices (inliers_plane);
  extract.setNegative (false);

  // Write the planar inliers to disk
  pcl::PointCloud<PointT>::Ptr cloud_plane (new pcl::PointCloud<PointT> ());
  extract.filter (*cloud_plane);
  ROS_INFO ("PointCloud representing the planar component: %zu data points.", cloud_plane->points.size ());
  writer.write ("table_scene_mug_stereo_textured_plane.pcd", *cloud_plane, false);

  // Remove the planar inliers, extract the rest
  extract.setNegative (true);
  extract.filter (*cloud_filtered);
  extract_normals.setNegative (true);
  extract_normals.setInputCloud (cloud_normals);
  extract_normals.setIndices (inliers_plane);
  extract_normals.filter (*cloud_normals);

  // Create the segmentation object for cylinder segmentation and set all the parameters
  seg.setOptimizeCoefficients (true);
  seg.setModelType (pcl::SACMODEL_CYLINDER);
  seg.setMethodType (pcl::SAC_RANSAC);
  seg.setNormalDistanceWeight (0.1);
  seg.setMaxIterations (10000);
  seg.setDistanceThreshold (0.05);
  seg.setRadiusLimits (0, 0.1);
  seg.setInputCloud (cloud_filtered);
  seg.setInputNormals (cloud_normals);

  // Obtain the cylinder inliers and coefficients
  seg.segment (*inliers_cylinder, *coefficients_cylinder);
  std::cerr << "Cylinder coefficients: " << *coefficients_cylinder << std::endl;

  // Write the cylinder inliers to disk
  extract.setInputCloud (cloud_filtered);
  extract.setIndices (inliers_cylinder);
  extract.setNegative (false);
  pcl::PointCloud<PointT>::Ptr cloud_cylinder (new pcl::PointCloud<PointT> ());
  extract.filter (*cloud_cylinder);
  ROS_INFO ("PointCloud representing the cylindrical component: %zu data points.", cloud_cylinder->points.size ());
  writer.write ("table_scene_mug_stereo_textured_cylinder.pcd", *cloud_cylinder, false);

  return (0);
}
/* ]--- */

---

pcl_tutorials
Author(s): Radu Bogdan Rusu, Bastian Steder
autogenerated on Fri Mar 1 16:30:11 2013