【4】PCL滤波之参数化模型投影

【1】参数化模型投影

将点云投影到一个参数模型上（例如：球形， 或者是平面上），假如是平面的话，通过给定coefficients，就可以了。

如果模型为一平面，本质就是点云的正视投影。模型可以为函数的表达的多种形式

【2】投影到平面

#include "pch.h"
#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
int
main333(int argc, char** argv)
{
	//生成两个点云
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);
	// 填入点云数据
	cloud->width = 5;
	cloud->height = 1;
	cloud->points.resize(cloud->width * cloud->height);
	for (size_t i = 0; i < cloud->points.size(); ++i)
	{
		cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
		cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
	}
	std::cerr << "Cloud before projection: " << std::endl;
	for (size_t i = 0; i < cloud->points.size(); ++i)
		std::cerr << "    " << cloud->points[i].x << " "
		<< cloud->points[i].y << " "
		<< cloud->points[i].z << std::endl;

	// 创建一个系数为X=Y=0,Z=1的平面 ax+by+cz+d=0
	pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
	coefficients->values.resize(4);
	coefficients->values[0] = coefficients->values[1] = 0;
	coefficients->values[2] = 1.0;
	coefficients->values[3] = 0;

	// 创建滤波器对象
	pcl::ProjectInliers<pcl::PointXYZ> proj;
	proj.setModelType(pcl::SACMODEL_PLANE);//设置投影模型 sacmodel-plane    平面: ax+by+cz+d=0
	proj.setInputCloud(cloud); //载入点云
	proj.setModelCoefficients(coefficients);//设置投影模型的参数
	proj.filter(*cloud_projected);//点云投射

	std::cerr << "Cloud after projection: " << std::endl;
	for (size_t i = 0; i < cloud_projected->points.size(); ++i)
		std::cerr << "    " << cloud_projected->points[i].x << " "
		<< cloud_projected->points[i].y << " "
		<< cloud_projected->points[i].z << std::endl;

	return (0);
}