#include <pcl/console/parse.h>#include <pcl/point_cloud.h>#include <pcl/point_types.h>#include <pcl/io/pcd_io.h>#include <pcl/visualization/pcl_visualizer.h>#include <pcl/segmentation/supervoxel_clustering.h>#include <vtkPolyLine.h> // 这句需要添加，否则会报错// Typestypedef pcl::PointXYZRGBA PointT;typedef pcl::PointCloud<PointT> PointCloudT;typedef pcl::PointNormal PointNT;typedef pcl::PointCloud<PointNT> PointNCloudT;typedef pcl::PointXYZL PointLT;typedef pcl::PointCloud<PointLT> PointLCloudT;void addSupervoxelConnectionsToViewer (PointT &supervoxel_center,PointCloudT &adjacent_supervoxel_centers,std::string supervoxel_name,boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer);intmain (int argc, char ** argv){ if (argc < 2) {pcl::console::print_error ("Syntax is: %s <pcd-file> \n ""–NT Dsables the single cloud transform \n""-v <voxel resolution>\n-s <seed resolution>\n""-c <color weight> \n-z <spatial weight> \n""-n <normal_weight>\n", argv[0]);return (1); }PointCloudT::Ptr cloud = boost::make_shared <PointCloudT> (); pcl::console::print_highlight ("Loading point cloud…\n"); if (pcl::io::loadPCDFile<PointT> (argv[1], *cloud)) {pcl::console::print_error ("Error loading cloud file!\n");return (1); }bool use_transform = ! pcl::console::find_switch (argc, argv, "–NT"); float voxel_resolution = 0.008f; bool voxel_res_specified = pcl::console::find_switch (argc, argv, "-v"); if (voxel_res_specified)pcl::console::parse (argc, argv, "-v", voxel_resolution); float seed_resolution = 0.1f; bool seed_res_specified = pcl::console::find_switch (argc, argv, "-s"); if (seed_res_specified)pcl::console::parse (argc, argv, "-s", seed_resolution); float color_importance = 0.2f; if (pcl::console::find_switch (argc, argv, "-c"))pcl::console::parse (argc, argv, "-c", color_importance); float spatial_importance = 0.4f; if (pcl::console::find_switch (argc, argv, "-z"))pcl::console::parse (argc, argv, "-z", spatial_importance); float normal_importance = 1.0f; if (pcl::console::find_switch (argc, argv, "-n"))pcl::console::parse (argc, argv, "-n", normal_importance); ////////////////////////////// ////////////////////////////// ////// This is how to use supervoxels ////////////////////////////// ////////////////////////////// pcl::SupervoxelClustering<PointT> super (voxel_resolution, seed_resolution, use_transform); super.setInputCloud (cloud); super.setColorImportance (color_importance); super.setSpatialImportance (spatial_importance); super.setNormalImportance (normal_importance); std::map <uint32_t, pcl::Supervoxel<PointT>::Ptr > supervoxel_clusters; pcl::console::print_highlight ("Extracting supervoxels!\n"); super.extract (supervoxel_clusters); pcl::console::print_info ("Found %d supervoxels\n", supervoxel_clusters.size ()); boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer")); viewer->setBackgroundColor (0, 0, 0); PointCloudT::Ptr voxel_centroid_cloud = super.getVoxelCentroidCloud (); viewer->addPointCloud (voxel_centroid_cloud, "voxel centroids"); viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE,2.0, "voxel centroids"); viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY,0.95, "voxel centroids"); PointCloudT::Ptr colored_voxel_cloud = super.getColoredVoxelCloud (); viewer->addPointCloud (colored_voxel_cloud, "colored voxels"); viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_OPACITY,0.8, "colored voxels"); PointNCloudT::Ptr sv_normal_cloud = super.makeSupervoxelNormalCloud (supervoxel_clusters); //We have this disabled so graph is easy to see, uncomment to see supervoxel normals //viewer->addPointCloudNormals<PointNormal> (sv_normal_cloud,1,0.05f, "supervoxel_normals"); pcl::console::print_highlight ("Getting supervoxel adjacency\n"); std::multimap<uint32_t, uint32_t> supervoxel_adjacency; super.getSupervoxelAdjacency (supervoxel_adjacency); //To make a graph of the supervoxel adjacency, we need to iterate through the supervoxel adjacency multimap std::multimap<uint32_t,uint32_t>::iterator label_itr = supervoxel_adjacency.begin (); for ( ; label_itr != supervoxel_adjacency.end (); ) {//First get the labeluint32_t supervoxel_label = label_itr->first;//Now get the supervoxel corresponding to the labelpcl::Supervoxel<PointT>::Ptr supervoxel = supervoxel_clusters.at (supervoxel_label);//Now we need to iterate through the adjacent supervoxels and make a point cloud of themPointCloudT adjacent_supervoxel_centers;std::multimap<uint32_t,uint32_t>::iterator adjacent_itr = supervoxel_adjacency.equal_range (supervoxel_label).first;for ( ; adjacent_itr!=supervoxel_adjacency.equal_range (supervoxel_label).second; ++adjacent_itr){pcl::Supervoxel<PointT>::Ptr neighbor_supervoxel = supervoxel_clusters.at (adjacent_itr->second);adjacent_supervoxel_centers.push_back (neighbor_supervoxel->centroid_);}//Now we make a name for this polygonstd::stringstream ss;ss << "supervoxel_" << supervoxel_label;//This function is shown below, but is beyond the scope of this tutorial – basically it just generates a "star" polygon mesh from the points givenaddSupervoxelConnectionsToViewer (supervoxel->centroid_, adjacent_supervoxel_centers, ss.str (), viewer);//Move iterator forward to next labellabel_itr = supervoxel_adjacency.upper_bound (supervoxel_label); } while (!viewer->wasStopped ()) {viewer->spinOnce (100); } return (0);}voidaddSupervoxelConnectionsToViewer (PointT &supervoxel_center,PointCloudT &adjacent_supervoxel_centers,std::string supervoxel_name,boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer){ vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New (); vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New (); vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New (); //Iterate through all adjacent points, and add a center point to adjacent point pair PointCloudT::iterator adjacent_itr = adjacent_supervoxel_centers.begin (); for ( ; adjacent_itr != adjacent_supervoxel_centers.end (); ++adjacent_itr) {points->InsertNextPoint (supervoxel_center.data);points->InsertNextPoint (adjacent_itr->data); } // Create a polydata to store everything in vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New (); // Add the points to the dataset polyData->SetPoints (points); polyLine->GetPointIds ()->SetNumberOfIds(points->GetNumberOfPoints ()); for(unsigned int i = 0; i < points->GetNumberOfPoints (); i++)polyLine->GetPointIds ()->SetId (i,i); cells->InsertNextCell (polyLine); // Add the lines to the dataset polyData->SetLines (cells); viewer->addModelFromPolyData (polyData,supervoxel_name);}
说明：
头文件包含：
/usr/include/pcl-1.7/usr/include/boost/usr/include/eigen3/usr/include/vtk-5.8
动态链接：
boost_systemvtkRenderingvtkFilteringvtkCommonpcl_commonpcl_iopcl_segmentationpcl_octreepcl_visualization
，也会有想更换的念头。旅行，正好提供了这样一个机会，
