這次我們將學著怎么通過一個參數化的模型進行投影。這個參數化的模型是通過一系列的系數---在這里是平面，相當于ax+by+cz+d=0

下面是代碼

#include <iostream> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/ModelCoefficients.h> #include <pcl/filters/project_inliers.h>intmain (int argc, char** argv) {pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected (new pcl::PointCloud<pcl::PointXYZ>);// Fill in the cloud datacloud->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;// Create a set of planar coefficients with X=Y=0,Z=1pcl::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 objectpcl::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;return (0); }

以下是一些解釋

產生隨機點云

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;

接下去，我們設置了一些參數，然后實現了一個平面

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;

接下去，我們創建了ProjectInliers這個對象，并使用ModelCoefficients定義了上面的模型

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

最終，我們將展示投影點云的內容

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;

我們運行程序將得到以下的結果

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Cloud before projection:0.352222 -0.151883 -0.106395-0.397406 -0.473106 0.292602-0.731898 0.667105 0.441304-0.734766 0.854581 -0.0361733-0.4607 -0.277468 -0.916762 Cloud after projection:0.352222 -0.151883 0-0.397406 -0.473106 0-0.731898 0.667105 0-0.734766 0.854581 0-0.4607 -0.277468 0

下面是圖片

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