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类将setModelCoefficients将coefficents穿入,然后cloud中points[i].z变成0,即为去除地面
values[0] = 1.0 时,points中x为0;
values[1] = 1.0 时,points中y为0;
values[2] = 1.0时,points中z为0;
values[3] = 1.0时,points均为 -nan;
projectnliers中的setModelCoefficients filter后期需关注