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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
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
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
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