project_inliers滤波

#include <iostream>

#include <pcl io=""pcd_io.h="">

#include <pcl point_types.h="">

#include <pcl modelcoefficients.h="">

#include <pcl filters=""project_inliers.h="">

 

#include <pcl io=""io.h=""> 

#include <pcl cloud_viewer.h=""visualization=""> 

#include <boost thread=""thread.hpp=""> 

 

intuser_data;

void

viewerOneOff(pcl::visualization::PCLVisualizer& viewer)

{

    viewer.setBackgroundColor(1.0,0.5,1.0);

    pcl::PointXYZ o;

    o.x = 1.0;

    o.y = 0;

    o.z = 0;

    viewer.addSphere(o,0.25,"sphere",0);

    std::cout << "i only run once" << std::endl;

 

}

 

void

viewerPsycho(pcl::visualization::PCLVisualizer& viewer)

{

    staticunsigned count = 0;

    std::stringstream ss;

    ss << "Once per viewer loop: " << count++;

    viewer.removeShape("text",0);

    viewer.addText(ss.str(),200,300,"text",0);

    //FIXME: possible race condition here: 

    user_data++;

}

 

int

 main (intargc, char** argv)

{

     pcl::PointCloud<pcl::pointxyzi>::Ptr cloud(newpcl::PointCloud<pcl::pointxyzi>);

     pcl::PointCloud<pcl::pointxyzi>::Ptr cloud_projected(newpcl::PointCloud<pcl::pointxyzi>);

 

     // 填入点云数据 

     pcl::io::loadPCDFile("table_scene_lms400.pcd", *cloud);

 

     std::cerr << "PointCloud before projection: " << cloud->width * cloud->height

         <<" data points (" << pcl::getFieldsList(*cloud_projected) << ").";

 

  // 创建一个系数为X=Y=0,Z=1的平面

  pcl::ModelCoefficients::Ptr coefficients (newpcl::ModelCoefficients ());

  coefficients->values.resize (4);

  coefficients->values[0] = coefficients->values[1] = 0;

  coefficients->values[2] = 1.0;

  coefficients->values[3] = 0;

  // 创建滤波器对象

  pcl::ProjectInliers<pcl::pointxyzi> proj;

  proj.setModelType (pcl::SACMODEL_PLANE);

  proj.setInputCloud (cloud);

  proj.setModelCoefficients (coefficients);

  proj.filter (*cloud_projected);

 

  std::cerr <<std::endl<< after=""cloud_projected-=""pointcloud=""projection:="">width * cloud_projected->height

      <<" data points (" << pcl::getFieldsList(*cloud_projected) << ").";

 

  pcl::visualization::PCLVisualizer viewer("PCLVisualizer");

  viewer.initCameraParameters();

 

  intv1(0);

  viewer.createViewPort(0.0,0.0,0.5,1.0, v1);

  viewer.setBackgroundColor(1.0,0.5,1.0, v1);

  viewer.addText("Cloud before projection",10,10,"v1 test", v1);

  pcl::visualization::PointCloudColorHandlerGenericField<pcl::pointxyzi> cloud_color(cloud, "intensity");

  viewer.addPointCloud<pcl::pointxyzi>(cloud, cloud_color, "cloud", v1);

 

  intv2(0);

  viewer.createViewPort(0.5,0.0,1.0,1.0, v2);

  viewer.setBackgroundColor(1.0,0.5,1.0, v2);

  viewer.addText("Cloud after projection",10,10,"v2 test", v2);

  pcl::visualization::PointCloudColorHandlerGenericField<pcl::pointxyzi> cloud_afterfilter_color(cloud_projected, "intensity");

  viewer.addPointCloud<pcl::pointxyzi>(cloud_projected, cloud_afterfilter_color, "cloud_projected", v2);

 

  viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,1,"cloud");

  viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,1,"cloud_projected");

 

 

  while(!viewer.wasStopped())

  {

      //在此处可以添加其他处理 

      user_data++;

      viewer.spinOnce(100);

      boost::this_thread::sleep(boost::posix_time::microseconds(100000));

  }

 

  return(0);

}

</pcl::pointxyzi></pcl::pointxyzi></pcl::pointxyzi></pcl::pointxyzi></std::endl<<></pcl::pointxyzi></pcl::pointxyzi></pcl::pointxyzi></pcl::pointxyzi></pcl::pointxyzi></boost></pcl></pcl></pcl></pcl></pcl></pcl></iostream>

运行，右边投影后是一个平面：