PCL学习笔记（十六）-- 使用参数化模型投影点云

一、简介

        本小节将学习如何将点投影到一个参数化模型（例如平面或球等）。参数化模型通过一组参数来设定，对于平面来说，使用其等式形式 ax + by + cz + d = 0，在PCL中有特意存储常见模型系数的数据结构。

二、代码分析

  1）首先声明了ModelCoeffcients结构和ProjectInliers滤波器对应头文件。

#include <pcl/ModelCoefficients.h>//模型系数定义头文件
#include <pcl/filters/project_inliers.h>//投影滤波类头文件

  2）随后我们创建了点云结构，填充了相应的值，并将其内容打印出来：

  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;

  3）填充ModelCoefficients的值，本例中我们使用一个 ax + by + cz + d = 0 的平面模型，其中 a = b = d = 0，c = 1 ，换句话说，也就是X-Y平面，用户可以任意定义PCL中支持的模型（圆球、圆柱、锥型等）进行投影滤波。

  // 创建一个系数为X=Y=0,Z=1的平面
  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;

  4）创建ProjectInliers对象，并使用刚才定义好的ModelCoefficients作为投影对象的模型参数：

  pcl::ProjectInliers<pcl::PointXYZ> proj;
  proj.setModelType (pcl::SACMODEL_PLANE);
  proj.setInputCloud (cloud);
  proj.setModelCoefficients (coefficients);
  proj.filter (*cloud_projected);

  5）最后打印出投影后的点云：

  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;

  6）整体代码如下：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>                                                              //模型系数定义头文件
#include <pcl/filters/project_inliers.h>                                                        //投影滤波类头文件
int main(int argc, char** argv)
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);              //共享指针保存输入的点云与投影后的点云
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);
    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;

    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());                     //定义一个模型系数的共享指针用于保存模型
    coefficients->values.resize(4);
    coefficients->values[0] = coefficients->values[1] = 0;
    coefficients->values[2] = 1.0;
    coefficients->values[3] = 0;
 
    pcl::ProjectInliers<pcl::PointXYZ> proj;                                                    //创建滤波器对象
    proj.setModelType(pcl::SACMODEL_PLANE);                                                     //设置投影的模型的类型
    proj.setInputCloud(cloud);
    proj.setModelCoefficients(coefficients);                                                    //设置模型的参数
    proj.filter(*cloud_projected);                                                              //保存滤波后的模型

    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);
}

三、编译结果

        编译前的点云包含Z轴的点云数据，但是经过向X-Y平面进行投影后，点云的Z向数据均为0，符合程序的逻辑：