PCL 读取TXT格式点云数据并将其投影至二维平面显示

读取点云数据并将其投影在模型上，如平面、球。设置coefficients参数即可，其代码如下：

#include <iostream>
#include<pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl/correspondence.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/kdtree/impl/kdtree_flann.hpp>
#include<fstream>
#include<iostream>

#include <pcl/visualization/cloud_viewer.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/point_types.h>

using namespace std;

double computerCloudResolution(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud) {
	double res = 0.0;
	int n_points = 0;
	int nres;
	std::vector<int> indices(2);
	std::vector<float> sqr_distances(2);
	pcl::search::KdTree<pcl::PointXYZ> tree;
	tree.setInputCloud(cloud);

	for (size_t i = 0; i < cloud->size(); ++i)
	{
		if (!std::isfinite((*cloud)[i].x))
		{
			continue;
		}
		nres = tree.nearestKSearch(i, 2, indices, sqr_distances);
		if (nres == 2)
		{
			res += sqrt(sqr_distances[1]);
			++n_points;
		}
	}
	if (n_points != 0)
	{
		res /= n_points;
	}

	return res;

}

int main()
{
	ifstream data;
	data.open("knee_piece.TXT", ios::in);

	int rows = -1;
	char buf[200];
	while (!data.eof()) {
		data.getline(buf, sizeof(buf));
		rows++;
	}
	data.clear();
	data.seekg(0, ios::beg);


	//pcl::PointCloud<pcl::PointXYZ>cloud;
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	cloud->width = rows;
	cloud->height = 1;
	cloud->is_dense = false;
	cloud->resize(cloud->width*cloud->height);

	for (int i = 0; i < rows; i++) {
		double num[3];
		data >> num[0];
		data >> num[1];
		data >> num[2];

		cloud->points[i].x = num[0];
		cloud->points[i].y = num[1];
		cloud->points[i].z = num[2];
	}


	double res = computerCloudResolution(cloud);
	cout << "distance=" << res << endl << "rows=" << rows;

	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].y << " \n";
	}

	/*投影*/
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);
	//create a set of planar coefficients with X=Y=0, Z = 1
	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;

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

	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;;
	}


	//Display
	pcl::visualization::PCLVisualizer Viewer;
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>C_B_P(cloud, 255, 0, 0); //C_B_P=cloud before projection首字母简写
	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>C_A_P(cloud_projected, 0, 255, 0); //C_A_P=cloud after projection首字母简写                                                                                                                                                //C_A_P=cloud after projection首字母简写
	Viewer.addPointCloud(cloud, C_B_P, "cloud before projection");
	Viewer.addPointCloud(cloud_projected, C_A_P, "cloud after projection");
	Viewer.spin();

	getchar();  //防止窗口闪退
	return true;
}

其屏幕上显示的红色点云为原始点云数据，绿色的为投影的点云数据。

参考博文

1、PCL:将点云投影到参数模型上；