3d激光雷达开发（平面映射）

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，https://blog.csdn.net/weixin_42291376/article/details/106154329，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 datacloud->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=1pcl::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 objectpcl::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。

3d激光雷达开发（平面映射）

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