pcl 中 coefficients的理解

project_liner工程中

 

pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
coefficients->values.resize(4);
coefficients->values[0] = 0;
coefficients->values[1] = 0;
coefficients->values[2] = 1.0;
coefficients->values[3] = 0;

 

然后利用ProjectInliers类将setModelCoefficients将coefficents穿入,然后cloud中points[i].z变成0,即为去除地面

 

values[0] = 1.0 时,points中x为0;

values[1] = 1.0 时,points中y为0;

values[2] = 1.0时,points中z为0;

values[3] = 1.0时,points均为 -nan;

 

projectnliers中的setModelCoefficients  filter后期需关注