生成点云

PS：仓库中pcd_merge.pcd是生成的点云

python GeneratePointcloud.py

生成的点云如下图：

一个真实的点云

真实的点云不知道为何在EC方法的耗时会高很多。该点云由激光雷达采集。

编译

cd PointcloudClustering
mkdir build
cd build
cmake ..
make

运行

cd PointcloudClustering
cd build
./ClusteringAlgo ../test_pcd.pcd

运行结果

Start pcl::EuclideanClusterExtraction ----------------------
Found 2 clusters.
Saved 27742 data points to euclidean_cluster_colored.ply.
Done in 5414.84 ms.
Done pcl::EuclideanClusterExtraction ----------------------
Start FastEuclideanClustering ----------------------
Found 2 clusters.
Saved 27742 data points to fec_cluster_colored.ply.
Done in 36.761 ms.
Done FastEuclideanCluster ----------------------