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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: filter_project_inliers.cpp 35518 2011-01-26 07:50:34Z rusu $ 00035 * 00036 */ 00037 00046 #include "pcl/ModelCoefficients.h" 00047 00048 #include "pcl/io/pcd_io.h" 00049 #include "pcl/point_types.h" 00050 00051 #include "pcl/filters/project_inliers.h" 00052 00053 /* ---[ */ 00054 int 00055 main (int argc, char** argv) 00056 { 00057 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ()), cloud_projected (new pcl::PointCloud<pcl::PointXYZ> ()); 00058 00059 // Fill in the cloud data 00060 cloud->width = 5; 00061 cloud->height = 1; 00062 cloud->points.resize (cloud->width * cloud->height); 00063 00064 for (size_t i = 0; i < cloud->points.size (); ++i) 00065 { 00066 cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0); 00067 cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0); 00068 cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0); 00069 } 00070 00071 std::cerr << "Cloud before projection: " << std::endl; 00072 for (size_t i = 0; i < cloud->points.size (); ++i) 00073 std::cerr << " " << cloud->points[i].x << " " << cloud->points[i].y << " " << cloud->points[i].z << std::endl; 00074 00075 // Create a set of planar coefficients with X=Y=0,Z=1 00076 pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ()); 00077 coefficients->values.resize (4); 00078 coefficients->values[0] = coefficients->values[1] = 0; 00079 coefficients->values[2] = 1.0; 00080 coefficients->values[3] = 0; 00081 00082 // Create the filtering object 00083 pcl::ProjectInliers<pcl::PointXYZ> proj; 00084 proj.setModelType (pcl::SACMODEL_PLANE); 00085 proj.setInputCloud (cloud); 00086 proj.setModelCoefficients (coefficients); 00087 proj.filter (*cloud_projected); 00088 00089 std::cerr << "Cloud after projection: " << std::endl; 00090 for (size_t i = 0; i < cloud_projected->points.size (); ++i) 00091 std::cerr << " " << cloud_projected->points[i].x << " " << cloud_projected->points[i].y << " " << cloud_projected->points[i].z << std::endl; 00092 00093 return (0); 00094 } 00095 /* ]--- */