PCL使用参数化模型投影点云

概述：将点云投影到一个模型上，以平面为例。

代码：

#include <iostream>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/ModelCoefficients.h>//模型参数定义头文件
#include <pcl/filters/project_inliers.h>//投影滤波类头文件
#include <pcl/visualization/pcl_visualizer.h>
int main() {
    std::cout << "Hello, World!" << std::endl;
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out(new pcl::PointCloud<pcl::PointXYZ>);

    pcl::io::loadPCDFile("room_scan1.pcd",*cloud_in);
    std::cerr<<"Before projection: "<<std::endl;
    for(size_t i = 0; i<cloud_in->size();i++)
        std::cout<<"  [ "<<i<<" ] , ( "<<cloud_in->points[i].x<<","<<cloud_in->points[i].y<<","<<cloud_in->points[i].z<<" )"<<std::endl;
    std::cout<<"points: "<<cloud_in->points.size();

    //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] = coefficients->values[3] = 0;
    coefficients->values[2] = 1;

    //创建滤波器对象
    pcl::ProjectInliers<pcl::PointXYZ> proj;
    proj.setModelType(pcl::SACMODEL_PLANE);
    proj.setInputCloud(cloud_in);
    proj.setModelCoefficients(coefficients);
    proj.filter(*cloud_out);

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

    //save result_cloud
    pcl::io::savePCDFileASCII("cloud_projection.pcd",*cloud_out);

    //visualizer
    pcl::visualization::PCLVisualizer::Ptr viewer(new pcl::visualization::PCLVisualizer);
    viewer->initCameraParameters();

    int v1(0);
    viewer->createViewPort(0,0,0.5,1,v1);
    viewer->setBackgroundColor(128,128,0,v1);
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color1(cloud_in,255,0,255);
    viewer->addPointCloud(cloud_in,single_color1,"cloud_in",v1);

    int v2(0);
    viewer->createViewPort(0.5,0,1,1,v2);
    viewer->setBackgroundColor(0,255,0,v2);
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color2(cloud_out,223,45,55);
    viewer->addPointCloud(cloud_out,single_color2,"cloud_out",v2);

    viewer->addCoordinateSystem();

    viewer->spin();

    return 0;
}

 可视化：