在本教程中,将学习如何将点投影到参数模型(例如,平面、球体等)上。参数模型通过一组系数给出——在平面的情况下,它的方程:ax + by + cz + d = 0。
首先创建project_inliers.cpp文件
源码:
1#include <iostream>
2#include <pcl/point_cloud.h> // for PointCloud
3#include <pcl/point_types.h>
4#include <pcl/ModelCoefficients.h>
5#include <pcl/filters/project_inliers.h>
6
7int
8 main ()
9{
10 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
11 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected (new pcl::PointCloud<pcl::PointXYZ>);
12
13 // Fill in the cloud data
14 cloud->width = 5;
15 cloud->height = 1;
16 cloud->points.resize (cloud->width * cloud->height);
17
18 for (auto& point: *cloud)
19 {
20 point.x = 1024 * rand () / (RAND_MAX + 1.0f);
21 point.y = 1024 * rand () / (RAND_MAX + 1.0f);
22 p