PCL1.8.1 分割 - Plane model
< 返回列表时间: 2019-11-28来源:OSCHINA
【围观】麒麟芯片遭打压成绝版,华为亿元投入又砸向了哪里?>>>
通过平面进行分割,代码中随机生成z=1平面上的点,修改三个点的z!=1,使用平面分割保留z=1上的点。
http://www.pointclouds.org/documentation/tutorials/planar_segmentation.php#planar-segmentation #include <iostream> #include <pcl/ModelCoefficients.h> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/sample_consensus/method_types.h> #include <pcl/sample_consensus/model_types.h> #include <pcl/segmentation/sac_segmentation.h> int main (int argc, char** argv) { pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); // Fill in the cloud data cloud->width = 15; cloud->height = 1; cloud->points.resize (cloud->width * cloud->height); // 随机产生z=1的平面点 for (std::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 = 1.0; } // 设置其中三个点不在z=1平面上 cloud->points[0].z = 2.0; cloud->points[3].z = -2.0; cloud->points[6].z = 4.0; //创建平面模型 ax+by+cz+d=0 pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients); pcl::PointIndices::Ptr inliers (new pcl::PointIndices); // Create the segmentation object pcl::SACSegmentation<pcl::PointXYZ> seg; // Optional seg.setOptimizeCoefficients (true); // Mandatory seg.setModelType (pcl::SACMODEL_PLANE); seg.setMethodType (pcl::SAC_RANSAC); seg.setDistanceThreshold (0.01); seg.setInputCloud (cloud); seg.segment (*inliers, *coefficients); if (inliers->indices.size () == 0) { PCL_ERROR ("Could not estimate a planar model for the given dataset."); return (-1); } //[0]:a [1]:b [2]:c [3]:d std::cerr << "Model coefficients: " << coefficients->values[0] << " " << coefficients->values[1] << " " << coefficients->values[2] << " " << coefficients->values[3] << std::endl; std::cerr << "Model inliers: " << inliers->indices.size () << std::endl; for (std::size_t i = 0; i < inliers->indices.size (); ++i) std::cerr << inliers->indices[i] << " " << cloud->points[inliers->indices[i]].x << " " << cloud->points[inliers->indices[i]].y << " " << cloud->points[inliers->indices[i]].z << std::endl; return (0); }
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