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);
}