点云库PCL学习笔记 -- 点云滤波Filtering -- 4. 使用参数化模型投影点云

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1. 参数化模型投影点云代码

参数化模型投影点云代码project_inliers.cpp

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>				//模型系数头文件
#include <pcl/filters/project_inliers.h>		//投影滤波类头文件

int
 main (int argc, char** argv)
{
  //定义并实例化一个PointCloud指针对象，并用随机点集赋值给它
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected (new pcl::PointCloud<pcl::PointXYZ>);

  //使用随机数生成点云数据，并打印出生成的数据信息
  cloud->width  = 5;
  cloud->height = 1;
  cloud->points.resize (cloud->width * cloud->height);

  for (std::size_t i = 0; i < cloud->size (); ++i)
  {
    point.x = 1024 * rand () / (RAND_MAX + 1.0f);
    point.y = 1024 * rand () / (RAND_MAX + 1.0f);
    point.z = 1024 * rand () / (RAND_MAX + 1.0f);
  }

  std::cerr << "Cloud before projection: " << std::endl;
  for (const auto& point: *cloud)
    std::cerr << "    " << point.x << " "
                        << point.y << " "
                        << point.z << std::endl;

  //定义模型系数对象，并填充对应的数据
  //填充ModelCoefficients的值,使用ax+by+cz+d=0平面模型，其中 a=b=d=0,c=1 也就是 X—Y 平面
  pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
  coefficients->values.resize (4);
  coefficients->values[0] = coefficients->values[1] = 0;	// a = 0; b = 0;
  coefficients->values[2] = 1.0;							// c = 1.0;
  coefficients->values[3] = 0;								// d = 0;

  //创建 ProjectInliers 对象,使用ModelCoefficients作为投影对象的模型参数
  pcl::ProjectInliers<pcl::PointXYZ> proj;		//创建投影滤波对象
  proj.setModelType (pcl::SACMODEL_PLANE);		//设置对象对应的投影模型
  proj.setInputCloud (cloud);					//设置输入点云
  proj.setModelCoefficients (coefficients);		//设置模型对应的系数
  proj.filter (*cloud_projected);				//执行投影滤波，并把结果存储到 cloud_projected

  //打印输出投影滤波后的点云数据
  std::cerr << "Cloud after projection: " << std::endl;
  for (size_t i = 0; i < cloud_projected->points.size (); ++i)
    std::cerr << "    " << point.x << " "
                        << point.y << " "
                        << point.z << std::endl;

  return (0);
}

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2. 编译文件

设置编译文件CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(project_inliers)
find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (project_inliers project_inliers.cpp)
target_link_libraries (project_inliers ${PCL_LIBRARIES})

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编译

mkdir build
cd build/
cmake ..
make

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3. 测试

执行程序

cd ..
./build/project_inliers

结果如下：

生成的点云经过投影滤波后，Z轴的数据变成了0，也就是点云杯投影到了 X—Y 平面上。

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