pcl 提取子集（平面）

在點雲裡提取了一些子集（平面）並顯示出來

參考鏈結

#include

#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
int main(int argc, char** argv)
// extract the inliers
extract.setinputcloud(cloud_filtered);
extract.setindices(inliers);
extract.setnegative(false);
extract.filter(*cloud_p);
std::cerr
<<
"pointcloud representing the planar component: "
<< cloud_p->width * cloud_p->height <<
" data points."
<< std::endl;
points.push_back(cloud_p);
std::stringstream ss;
ss <<
"table_scene_lms400_plane_"
<< i <<
".pcd";
writer.write<:pointxyz>
>(ss.str(), *cloud_p, false);
// create the filtering object
extract.setnegative(true);
extract.filter(*cloud_f);
cloud_filtered.swap(cloud_f);//更新
另外乙個** 這個**可以輸出子集的引數（平面引數）
#include 

#include 
#include 
#include 
#include 
#include 
#include 
intmain(int argc, char** argv)
// set a few outliers
cloud->points[0].z = 2.0;
cloud->points[3].z = -2.0;
cloud->points[6].z = 4.0;
std::cerr
<< "point cloud data: "
<< cloud->points.size() << " points"
<< 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;
pcl::modelcoefficients::ptr coefficients(new pcl::modelcoefficients);
pcl::pointindices::ptr inliers(new pcl::pointindices);
// create the segmentation object
pcl::sacsegmentationseg;
// 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)
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 (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);
}
 
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