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  • pcl之投影点云到参数模型上

    pcl之projecting points using a parametric model

    In this tutorial we will learn how to project points onto a parametric model (e.g., plane, sphere, etc). The parametric model is given through a set of coefficients – in the case of a plane, through its equation: ax + by + cz + d = 0.

    #include <iostream>
    #include <pcl/io/pcd_io.h>
    #include <pcl/point_types.h>
    #include <pcl/ModelCoefficients.h>
    #include <pcl/filters/project_inliers.h>
    
    int main (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 data
      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);
      }
    
      // 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);
    
      return (0);
    }
    

    We fill in the ModelCoefficients values. In this case, we use a plane model, with ax+by+cz+d=0, where a=b=d=0, and c=1, or said differently, the X-Y plane.

    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
    

    Note that the coordinate axes are represented as red (x), green (y), and blue (z). The five points are represented with red as the points before projection and green as the points after projection. Note that their z now lies on the X-Y plane.

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  • 原文地址:https://www.cnblogs.com/ChrisCoder/p/9986346.html
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