1.首先包含的對應的modelcoefficients.h以及filter中向平面投影的project_inlier.h
#include #include #include #include #includeint user_data;
void
vieweroneoff(pcl::visualization::pclvisualizer& viewer)
void
viewerpsycho(pcl::visualization::pclvisualizer& viewer)
/2.初始化該物件
cloud->width = 5;//對於未組織的點雲的相當於points個數
cloud->height = 1; //對未組織的點雲指定為1
cloud->points.resize (cloud->width * cloud->height); //修剪或追加值初始化的元素
for (size_t i = 0; i < cloud->points.size (); ++i)
// 3.cerr 輸出物件放置刷屏
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;
//投影前點
`cloud before projection:
1.28125 577.094 197.938
828.125 599.031 491.375
358.688 917.438 842.563
764.5 178.281 879.531
727.531 525.844 311.281
// 4.建立乙個係數為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] = 0;
coefficients->values[2] = 1.0;
coefficients->values[3] = 0;
** 注意這裡在使用的時候再建立濾波後物件不規範，應該放在程式開始的時候**
//5.建立濾波後物件，並通過濾波投影，並顯示結果
pcl::pointcloud::ptr cloud_projected(new
pcl::pointcloud);
// 建立濾波器物件
pcl::projectinliersproj;
proj.setmodeltype (pcl::sacmodel_plane);
proj.setinputcloud (cloud);
proj.setmodelcoefficients (coefficients);
proj.filter (*cloud_projected);
//視覺化顯示
pcl::visualization::cloudviewer viewer("cloud viewer");
//showcloud函式是同步的，在此處等待直到渲染顯示為止
viewer.showcloud(cloud);
//該註冊函式在視覺化時只呼叫一次
viewer.runonvisualizationthreadonce(vieweroneoff);
//該註冊函式在渲染輸出時每次都呼叫
viewer.runonvisualizationthread(viewerpsycho);
while (!viewer.wasstopped())
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);
//投影後點
cloud before projection:
1.28125 577.094 197.938
828.125 599.031 491.375
358.688 917.438 842.563
764.5 178.281 879.531
727.531 525.844 311.281
cloud after projection:
1.28125 577.094 0
828.125 599.031 0
358.688 917.438 0
764.5 178.281 0
727.531 525.844 0
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