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#include #include #include #include #include intmain(int argc,char ** args){ pcl::PointCloud ::Ptr cloud(new pcl::PointCloud ()); pcl::PointCloud ::Ptr cloud_pj(new pcl::PointCloud ()); cloud->width = 5; cloud->height = 1; cloud->points.resize(cloud->width * cloud->height); for (auto& p : *cloud) { p.x = 1024 * rand() / (RAND_MAX + 1.0f); p.y = 1024 * rand() / (RAND_MAX + 1.0f); p.z = 1024 * rand() / (RAND_MAX + 1.0f); } std::cerr << "cloud before projection" << std::endl; for (const auto& p : *cloud) std::cout << " " << p.x << " " << p.y << " " << p.z << " " << std::endl; pcl::ModelCoefficients::Ptr mc(new pcl::ModelCoefficients()); //平面模型的方程为 ax+by+cz+d = 0,此时设置 a = b = d = 0,c =1，则平面为 z=0的平面，也就是 X-Y平面 //mc->values.resize(4); //mc->values[0] = mc ->values[1] = 0; //mc->values[2] = 1.0; //mc->values[3] = 0; //投射可以是任意的平面 mc->values.resize(4); mc->values[0] = mc->values[1] = 2; mc->values[2] = 1.0; mc->values[3] = 0; pcl::ProjectInliers proj; proj.setModelType(pcl::SACMODEL_PLANE); proj.setInputCloud(cloud); proj.setModelCoefficients(mc); proj.filter(*cloud_pj); std::cerr << "Cloud after projection" << std::endl; for(const auto & p :*cloud_pj) std::cout << " " << p.x << " " << p.y << " " << p.z << " " << std::endl; return 0;}
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