[点云分割] 基于颜色的区域增长分割

效果：

代码：

#include 
#include 
#include 
 
#include 
#include 
#include 
#include 
#include 
#include  // for pcl::removeNaNFromPointCloud
#include 
 
using namespace  std::chrono_literals;
 
int main()
{
    pcl::search::Search::Ptr tree (new pcl::search::KdTree);
 
    pcl::PointCloud::Ptr cloud(new pcl::PointCloud);
    if( pcl::io::loadPCDFile("region_growing_rgb_tutorial.pcd", *cloud) == -1)
    {
        std::cout << "cloud reading failed." << std::endl;
        return (-1);
    }
 
    pcl::IndicesPtr indices (new std::vector<int>);
    pcl::removeNaNFromPointCloud(*cloud, *indices); //从点云中移除包含NaN值的点，并返回非NaN点的索引
 
    pcl::RegionGrowingRGB reg;
    reg.setInputCloud(cloud);
    reg.setIndices(indices);
    reg.setSearchMethod(tree);
    reg.setDistanceThreshold(10);
    reg.setPointColorThreshold(6);
    reg.setRegionColorThreshold(5);
    reg.setMinClusterSize(600);
 
    std::vector clusters;
    reg.extract(clusters);
 
 
    pcl::PointCloud ::Ptr colored_cloud = reg.getColoredCloud();
    pcl::visualization::CloudViewer viewer("cluster viewer");
    viewer.showCloud(colored_cloud);
    while (!viewer.wasStopped()) {
        std::this_thread::sleep_for(100);
    }
 
    return(0);
 
}