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#include <iostream>
#include <vector>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/search/search.h>
#include <pcl/search/kdtree.h>
#include <pcl/features/normal_3d.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/filters/filter_indices.h> // for pcl::removeNaNFromPointCloud
#include <pcl/segmentation/region_growing.h>
int
main ()
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
if ( pcl::io::loadPCDFile <pcl::PointXYZ> ("region_growing_tutorial.pcd", *cloud) == -1)
{
std::cout << "Cloud reading failed." << std::endl;
return (-1);
}
pcl::search::Search<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
pcl::PointCloud <pcl::Normal>::Ptr normals (new pcl::PointCloud <pcl::Normal>);
pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> normal_estimator;
normal_estimator.setSearchMethod (tree);
normal_estimator.setInputCloud (cloud);
normal_estimator.setKSearch (50);
normal_estimator.compute (*normals);
pcl::IndicesPtr indices (new std::vector <int>);
pcl::removeNaNFromPointCloud(*cloud, *indices);
pcl::RegionGrowing<pcl::PointXYZ, pcl::Normal> reg;
reg.setMinClusterSize (50);
reg.setMaxClusterSize (1000000);
reg.setSearchMethod (tree);
reg.setNumberOfNeighbours (30);
reg.setInputCloud (cloud);
reg.setIndices (indices);
reg.setInputNormals (normals);
reg.setSmoothnessThreshold (3.0 / 180.0 * M_PI);
reg.setCurvatureThreshold (1.0);
std::vector <pcl::PointIndices> clusters;
reg.extract (clusters);
std::cout << "Number of clusters is equal to " << clusters.size () << std::endl;
std::cout << "First cluster has " << clusters[0].indices.size () << " points." << std::endl;
std::cout << "These are the indices of the points of the initial" <<
std::endl << "cloud that belong to the first cluster:" << std::endl;
std::size_t counter = 0;
while (counter < clusters[0].indices.size ())
{
std::cout << clusters[0].indices[counter] << ", ";
counter++;
if (counter % 10 == 0)
std::cout << std::endl;
}
std::cout << std::endl;
pcl::PointCloud <pcl::PointXYZRGB>::Ptr colored_cloud = reg.getColoredCloud ();
pcl::visualization::CloudViewer viewer ("Cluster viewer");
viewer.showCloud(colored_cloud);
while (!viewer.wasStopped ())
{
}
return (0);
}
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