pcl 中 coefficients的理解

project_liner工程中

 

pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ());
coefficients->values.resize(4);
coefficients->values[0] = 0;
coefficients->values[1] = 0;
coefficients->values[2] = 1.0;
coefficients->values[3] = 0;

 

然后利用ProjectInliers類將setModelCoefficients將coefficents穿入,然后cloud中points[i].z變成0,即為去除地面

 

values[0] = 1.0 時,points中x為0;

values[1] = 1.0 時,points中y為0;

values[2] = 1.0時,points中z為0;

values[3] = 1.0時,points均為 -nan;

 

projectnliers中的setModelCoefficients  filter后期需關注