3d激光雷达开发（基于参数模型的滤波）

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本文介绍了一种使用参数模型进行滤波的方法，通过给定平面方程ax+by+cz+d=0来过滤点云数据。在示例代码中，使用PCL库的ProjectInliers滤波器，将点云投影到Z=1的平面上，观察Z轴数据变化。代码展示了如何填充点云数据，设置滤波参数，并执行滤波操作。

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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>

int
 main ()
{
  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 data
  cloud->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=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 (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