利用pcl點雲庫找到物體（鞋底）的上邊緣

一、總體思路

1將點雲按鞋底長度方向分成多個片段；2每個點雲片段找到最高點；3將找到的最高點放到新的點雲中顯示

二、代碼

for (float i = min.y; i < max.y; i=i+2.0)
	{
		for (size_t j = 0; j < cloud_final->points.size(); j++)
		{
			if (cloud_final->points[j].y >= i && cloud_final->points[j].y < i+2.0)
			{
				indexs.push_back(j);				
			}			
		}
		
		pcl::copyPointCloud(*cloud_final, indexs, *cloud_final_subset);
		
		pcl::getMinMax3D(*cloud_final_subset, min_subset, max_subset);
		
		for (size_t k = 0; k < cloud_final_subset->size(); k++)
		{
			if (cloud_final_subset->points[k].x>=min_subset.x && cloud_final_subset->points[k].x < (max_subset.x + min_subset.x) / 2.0)
			{
				indexs_subset1.push_back(k);
			}
			else
			{
				indexs_subset2.push_back(k);
			}
		}		
		pcl::copyPointCloud(*cloud_final_subset, indexs_subset1, *cloud_subset1);
		pcl::copyPointCloud(*cloud_final_subset, indexs_subset2, *cloud_subset2);
		
		/*數據排序，找出最高點放到最後的點雲結構中顯示*/
		subset1_maxz = cloud_subset1->points[0].z;
		subset2_maxz = cloud_subset2->points[0].z;
		index_maxz1 = 0;
		index_maxz2 = 0;
		for (int l = 0; l < cloud_subset1->points.size(); l++)
		{
			if (subset1_maxz< cloud_subset1->points[l].z)
			{
				subset1_maxz = cloud_subset1->points[l].z;
				index_maxz1 = l;
			}
		}
		cloud_topboundary->push_back(cloud_subset1->points[index_maxz1]);
		

		for (int m = 0; m < cloud_subset2->points.size(); m++)
		{
			if (subset2_maxz < cloud_subset2->points[m].z)
			{
				subset2_maxz = cloud_subset2->points[m].z;
				index_maxz2 = m;
			}
		}
		cloud_topboundary->push_back(cloud_subset2->points[index_maxz2]);
		

		indexs_subset.clear();
		cloud_subset1->clear();
		cloud_subset2->clear();
		cloud_final_subset->clear();
		indexs_subset1.clear();
		indexs_subset2.clear();		
		indexs.clear();		
	}

三、效果

3.1鞋底點雲

3.2鞋底上邊緣點雲