How to set Coefficients in Project inliers object

[n-patiphon]

According to this official tutorial http://www.pointclouds.org/documentation/tutorials/project_inliers.php#project-inliers, Project inliers has "setModelCoefficients" method to set planar coefficients. However, I couldn't call this method. Could anyone suggest a way to set these coefficients?

[ZGX010]

Hi ,i meet this too . Can you deal with it? and the examples\offical\fitering.py only have the point cloud that PointXYZ but my point cloud is PointCloudXYZRGBA

[qiyang77]

I am interested in this too. I want project point cloud using a parametric curved surface model, anyone can help me?

[Wishmitha]

@Sirokujira any update on this?

However, you can manually implement a function like this to do the projection to a given plane with coefficients.

` def project(cloud, coefficients) :

normal = np.array(coefficients[:-1])

cloud_array = np.asarray(cloud)

projected_cloud_list = []

for point in cloud_array:
    projected_cloud_list.append(point - (normal*(np.dot(point,normal)/np.dot(normal,normal))))

projected_cloud_array = np.array(projected_cloud_list, dtype=np.float32)
return pcl.PointCloud(projected_cloud_array)

`

[enting8696]

anyone solve a problem? have a nice day