3d激光雷达开发（基于参数模型的滤波）

基于参数模型滤波，更准确的说，是依赖于某一个参数方程的滤波。比如说，ax+by+cz+d=0，这个时候只要知道a、b、c、d四个数值，其实就可以确定这个平面了。不过这个方法对参数要求较高，使用场景有一定的限制。原来的代码链接在这，https://pcl.readthedocs.io/projects/tutorials/en/latest/project_inliers.html#project-inliers

1、准备project_inliers.cpp文件

#include <iostream>
#include <pcl/point_cloud.h> // for PointCloud
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>intmain ()
{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 (auto& point: *cloud){point.x = 1024 * rand () / (RAND_MAX + 1.0f);point.y = 1024 * rand () / (RAND_MAX + 1.0f);point.z = 1024 * rand () / (RAND_MAX + 1.0f);}std::cerr << "Cloud before projection: " << std::endl;for (const auto& point: *cloud)std::cerr << "    " << point.x << " "<< point.y << " "<< point.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] = coefficients->values[1] = 0;coefficients->values[2] = 1.0;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 (const auto& point: *cloud_projected)std::cerr << "    " << point.x << " "<< point.y << " "<< point.z << std::endl;return (0);
}

2、准备CMakeLists.txt文件

cmake_minimum_required(VERSION 3.5 FATAL_ERROR)project(project_inliers)find_package(PCL 1.2 REQUIRED)include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})add_executable (project_inliers project_inliers.cpp)
target_link_libraries (project_inliers ${PCL_LIBRARIES})

3、生成sln文件，准备编译

4、运行project_inliers.exe

可以关注一下，滤波后z轴方向数据的变化。

3d激光雷达开发（基于参数模型的滤波）

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