PCL点云测试程序2

 程序：

#include <iostream>  
#include <pcl/io/pcd_io.h>  
#include <pcl/point_types.h> 
#include <pcl/ModelCoefficients.h>  
#include <pcl/filters/project_inliers.h> 
#include <pcl/io/io.h>
#include <vtkAutoInit.h>
#include <pcl/point_cloud.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>);

	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] = coefficients->values[1] = 0;

	coefficients->values[2] = 1.0;

	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;

}

运行GIF：