参数模型投影

#include <iostream>//io操作
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/console/time.h>
#include <pcl/common/transforms.h>
#include <pcl/common/common.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>//显示库
#include <pcl/visualization/cloud_viewer.h>//简单显示点云
#include <pcl/console/parse.h>  //pcl控制台解析
#include <pcl/features/fpfh_omp.h> //包含fpfh加速计算的omp(多核并行计算)
#include <pcl/registration/correspondence_rejection_features.h> //特征的错误对应关系去除
#include <pcl/registration/correspondence_rejection_sample_consensus.h> //随机采样一致性去除
#include <pcl/registration/icp.h>//icp配准
#include <pcl/features/boundary.h>//边界提取
#include <pcl/point_cloud.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/kdtree/kdtree_flann.h>//#include <boost/thread/thread.hpp>
#include <pcl/registration/correspondence_estimation.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/approximate_voxel_grid.h>
#include <pcl/features/integral_image_normal.h>
#include <pcl/ModelCoefficients.h>//定义参数模型
#include <pcl/filters/project_inliers.h>//投影
// 包含相关头文件

// This function displays the help
void showHelp(char* program_name)
{
    std::cout << std::endl;
    std::cout << "Usage: " << program_name << " cloud_filename.[pcd|ply]" << std::endl;
    std::cout << "-h or --help :  Show  help." << std::endl;
}

using namespace std;
typedef pcl::PointCloud<pcl::PointXYZ> pointcloud;
typedef pcl::PointCloud<pcl::Normal> pointnormal;
typedef pcl::PointCloud<pcl::FPFHSignature33> fpfhFeature;

// This is the main function
int main(int argc, char** argv)
{
    pcl::console::TicToc time;
    time.tic();
    // Show help
    if (pcl::console::find_switch(argc, argv, "-h") || pcl::console::find_switch(argc, argv, "--help")) {
        std::cout << "没有help." << std::endl;
        return 0;
    }

    // Fetch point cloud filename in arguments | Works with PCD and PLY files
    std::vector<int> filenames;
    bool file_is_pcd = false;

    filenames = pcl::console::parse_file_extension_argument(argc, argv, ".ply");

    if (filenames.size() != 1) {
        filenames = pcl::console::parse_file_extension_argument(argc, argv, ".pcd");

        if (filenames.size() != 1) {
            showHelp(argv[0]);
            return -1;
        }
        else {
            file_is_pcd = true;
        }
    }

    // Load file | Works with PCD and PLY files
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
    pcl::PointCloud<pcl::PointXYZ>::Ptr source(new pcl::PointCloud<pcl::PointXYZ>());
    if (file_is_pcd) {
        if (pcl::io::loadPCDFile(argv[filenames[0]], *cloud) < 0) {
            std::cout << "Error loading point cloud " << argv[filenames[0]] << std::endl << std::endl;
            showHelp(argv[0]);
            return -1;
        }
    }
    else {
        if (pcl::io::loadPLYFile(argv[filenames[0]], *cloud) < 0) {
            std::cout << "Error loading point cloud " << argv[filenames[0]] << std::endl << std::endl;
            showHelp(argv[0]);
            return -1;
        }
    }
    std::cout << "\ncloud size is: " << cloud->size() << std::endl;

    //体素化
    pcl::VoxelGrid<pcl::PointXYZ> approximate_voxel_grid;
    approximate_voxel_grid.setLeafSize(0.5, 0.5, 0.5); //网格边长.这里的数值越大，则精简的越厉害（剩下的数据少）
    approximate_voxel_grid.setInputCloud(cloud);
    approximate_voxel_grid.filter(*source);
    cout << "voxel grid  Filte cloud size is: " << source->size() << endl;
    pcl::copyPointCloud(*source, *cloud);

    pcl::PointCloud<pcl::PointXYZ>::Ptr source_cloud(new pcl::PointCloud<pcl::PointXYZ>());
    // Create a set of planar coefficients with X=Y=0,Z=1
    //在这种情况下，我们使用一个平面模型，其中ax + by + cz + d = 0，其中a = b = d = 0，c = 1，或者换句话说，XY平面。
    //定义参数模型
    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
    coefficients->values.resize(4);
    coefficients->values[1] = coefficients->values[2] = 0;
    coefficients->values[0] = 1.0;
    coefficients->values[3] = 0;

    // Create the filtering object
    pcl::ProjectInliers<pcl::PointXYZ> proj;
    proj.setModelType(pcl::SACMODEL_PLANE);//面类型
    proj.setInputCloud(cloud);
    proj.setModelCoefficients(coefficients);//选择参数模型
    proj.filter(*source_cloud);

    std::cerr << "Cloud after projection " << std::endl;

    pcl::visualization::PCLVisualizer viewer("view");

    // 2.Define R,G,B colors for the point cloud
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> source_cloud_color(source_cloud, 0, 0, 255);
    viewer.addPointCloud(source_cloud, source_cloud_color, "original_cloud");

    //坐标系的三维轴添加到屏幕的(0, 0, 0)处
    //viewer.addCoordinateSystem(1.0, "original_cloud", 0);
    viewer.setBackgroundColor(0.1, 0.1, 0.1); // Setting background to a dark grey设置背景颜色，默认黑色
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "original_cloud");//渲染属性

    viewer.setPosition(200, 100); // Setting visualiser window position窗口弹出位置

    while (!viewer.wasStopped()) { // Display the visualiser until 'q' key is pressed
        viewer.spinOnce();
    }

    return 0;
}