PCL 平面拟合和展示

最新推荐文章于 2024-11-12 22:33:37 发布

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最新推荐文章于 2024-11-12 22:33:37 发布 · 743 阅读

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这段代码演示了如何利用PCL库进行3D点云数据的平面拟合以及通过pcl::visualization::CloudViewer进行可视化展示。主要涉及到PCL的sac_segmentation模块和点云处理技术。

#include
#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>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>

int
main(int argc, char** argv)
{
pcl::PointCloudpcl::PointXYZ::Ptr cloud(new pcl::PointCloudpcl::PointXYZ);

// Fill in the cloud data
cloud->width = 150;
cloud->height = 1;
cloud->points.resize(cloud->width * cloud->height);

// Generate the data
for (auto& point : *cloud)
{
    point.x = 100 * rand() / (RAND_MAX + 1.0f);
    point.y = 100 * rand() / (RAND_MAX + 1.0f);
    point.z =1;
}

// Set a few outliers
(*cloud)[0].z = 2.0;
(*cloud)[3].z = -2.0;
(*cloud)[6].z = 4.0;

std::cerr << "Point cloud data: " &l