[Point Cloud Segmentation] Segmentation based on minimum cut

Effect:

Code:

#include <iostream>
#include <vector>

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/filters/filter_indices.h>
#include <pcl/segmentation/min_cut_segmentation.h>


int main()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    if( pcl::io::loadPCDFile<pcl::PointXYZ>("/home/lrj/work/pointCloudData/table_scene_lms400.pcd", *cloud) == -1)
    {
        std::cout << "Cloud reading failed." << std::endl;
        return (-1);
    }
    pcl::IndicesPtr indices (new std::vector<int>);
    pcl::removeNaNFromPointCloud(*cloud, *indices);

    pcl::MinCutSegmentation<pcl::PointXYZ> seg;
    seg.setInputCloud(cloud);
    seg.setIndices(indices);

    // 指定前景点
    pcl::PointCloud<pcl::PointXYZ>::Ptr foreground_points(new pcl::PointCloud<pcl::PointXYZ>());
    pcl::PointXYZ point;
    point.x = 68/97;
    point.y = -18.55;
    point.z = 0.57;
    foreground_points->points.push_back(point);
    seg.setForegroundPoints(foreground_points);

    seg.setSigma(0.25);
    seg.setRadius(3.0433856);
    seg.setNumberOfNeighbours(14);
    seg.setSourceWeight(0.8);

    std::vector<pcl::PointIndices> clusters;
    seg.extract(clusters);

    std::cout << "Maximum flow is " << seg.getMaxFlow() << std::endl;

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr colored_cloud = seg.getColoredCloud();


    pcl::visualization::CloudViewer viewer("Cluster viewer");
    viewer.showCloud(colored_cloud);
    while (!viewer.wasStopped())
    {

    }

    return(0);

}