2. 点云到平面的映射方法
1 #include <iostream> 2 #include <pcl/io/pcd_io.h> 3 #include <pcl/point_types.h> 4 #include <pcl/ModelCoefficients.h> 5 #include <pcl/filters/project_inliers.h> 6 #include <pcl/visualization/pcl_visualizer.h> 7 8 using namespace pcl; 9 using namespace std; 10 typedef pcl::PointXYZ PointT; 11 typedef pcl::PointCloud<PointT> PointCloud; 12 13 int main(int argc, char** argv) 14 { 15 16 //*******点云往平面投影的方法********** 17 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); 18 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>); 19 20 if (pcl::io::loadPCDFile("C:/Users/18148/Desktop/qq3.pcd", *cloud) == -1){ 21 PCL_ERROR("Could not read pcd file!\n"); 22 return -1; 23 } 24 25 std::cerr << "Cloud before projection: " << std::endl; 26 /*for (size_t i = 0; i < cloud->points.size(); ++i) 27 std::cerr << " " << cloud->points[i].x << " " 28 << cloud->points[i].y << " " 29 << cloud->points[i].z << std::endl; 30 */ 31 // 定义模型系数对象，并填充对应的数据Create a set of planar coefficients with X=Y=0,Z=1 32 pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients()); 33 coefficients->values.resize(4); 34 coefficients->values[0] = 0.5; 35 coefficients->values[1] = 1; 36 coefficients->values[2] = 1; 37 coefficients->values[3] = 0; 38 39 // Create the filtering object 40 pcl::ProjectInliers<pcl::PointXYZ> proj;//创建投影滤波对象 41 proj.setModelType(pcl::SACMODEL_PLANE);//设置对象对应的投影模型 42 proj.setInputCloud(cloud);//设置输入点云 43 proj.setModelCoefficients(coefficients);//设置模型对应的系数 44 proj.filter(*cloud_projected);//执行投影滤波存储结果cloud_projected 45 46 std::cerr << "Cloud after projection: " << std::endl; 47 //for (size_t i = 0; i < cloud_projected->points.size(); ++i) 48 // std::cerr << " " << cloud_projected->points[i].x << " " 49 // << cloud_projected->points[i].y << " " 50 // << cloud_projected->points[i].z << std::endl; 51 52 boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer")); 53 viewer->setBackgroundColor(0, 0, 0); 54 //pcl::visualization::PointCloudColorHandlerRGBField<PointT> rgb(cloud_pointsPtr); 55 pcl::visualization::PointCloudColorHandlerCustom<PointT> blue(cloud, 0, 0, 255); 56 viewer->addPointCloud<PointT>(cloud, blue, "sample cloud"); 57 viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "sample cloud"); 58 59 pcl::visualization::PointCloudColorHandlerCustom<PointT> red(cloud_projected, 255, 0, 0); 60 viewer->addPointCloud<PointT>(cloud_projected, red, "sample cloud2"); 61 viewer->addCoordinateSystem(1.0); 62 viewer->initCameraParameters(); 63 64 while (!viewer->wasStopped()) 65 { 66 viewer->spinOnce(100); 67 boost::this_thread::sleep(boost::posix_time::microseconds(100000)); 68 } 69 system("pause"); 70 return 0; 71 }
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