3d激光雷达开发（平面映射）

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        3d点云当中，一个经常用到的方法就是先找到一个平面，然后将点映射到平面上面。这个里面用到的数据结构是ProjectInliers。参考的代码链接在这，​​javascript:void(0)​​，代码和参数稍微做了一些修改

1、准备pcl.cpp文件

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
#include<stdio.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);
  }
 
  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;
 
  // 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] = 0;
  coefficients->values[1] = 1;
  coefficients->values[2] = 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);
 
  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;
  system("pause");
  return (0);
}

2、再准备CMakeLists.txt

cmake_minimum_required(VERSION 2.6 FATAL_ERROR)

project(pcl)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (pcl pcl.cpp)
target_link_libraries (pcl ${PCL_LIBRARIES})

3、生成sln工程，准备编译

4、运行exe文件

        直接运行pcl.exe即可，

        注意这里面y轴数据发生了改变，当然映射的平面可以是分割出来的任意平面。