PCL中Sample_consensus模块支持的几何模型

2023-11-06 22:58
文章标签 模块 模型 支持 pcl 几何 sample consensus

本文主要是介绍PCL中Sample_consensus模块支持的几何模型，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

As of PCL 1.0, the following models are supported: 

（1）SACMODEL_PLANE（三维平面）

  • used to determine plane models. The four coefficients of the plane are itsHessian Normal form: [normal_x normal_y normal_z d] 
    • a : the X coordinate of the plane's normal (normalized)
    • b : the Y coordinate of the plane's normal (normalized)
    • c : the Z coordinate of the plane's normal (normalized)
    • d : the fourth Hessian component of the plane's equation
（2） SACMODEL_LINE（三维直线）
  • used to determine line models. The six coefficients of the line are given by a point on the line and the direction of the line as: [point_on_line.x point_on_line.y point_on_line.z line_direction.x line_direction.y line_direction.z] 
    • point_on_line.x : the X coordinate of a point on the line
    • point_on_line.y : the Y coordinate of a point on the line
    • point_on_line.z : the Z coordinate of a point on the line
    • line_direction.x : the X coordinate of a line's direction
    • line_direction.y : the Y coordinate of a line's direction
    • line_direction.z : the Z coordinate of a line's direction

（3） SACMODEL_CIRCLE2D（二维圆）
  • used to determine 2D circles in a plane. The circle's three coefficients are given by its center and radius as: [center.x center.y radius] 
    • center.x : the X coordinate of the circle's center
    • center.y : the Y coordinate of the circle's center
    • radius : the circle's radius
（4） SACMODEL_CIRCLE3D

  • not implemented yet 
（5） SACMODEL_SPHERE（球）
  • used to determine sphere models. The four coefficients of the sphere are given by its 3D center and radius as: [center.x center.y center.z radius]  
    • center.x : the X coordinate of the sphere's center
    • center.y : the Y coordinate of the sphere's center
    • center.z : the Z coordinate of the sphere's center
    • radius : the sphere's radius 
（6） SACMODEL_CYLINDER（柱）

  • used to determine cylinder models. The seven coefficients of the cylinder are given by a point on its axis, the axis direction, and a radius, as: [point_on_axis.x point_on_axis.y point_on_axis.z axis_direction.x axis_direction.y axis_direction.z radius] 
    • point_on_axis.x : the X coordinate of a point located on the cylinder axis
    • point_on_axis.y : the Y coordinate of a point located on the cylinder axis
    • point_on_axis.z : the Z coordinate of a point located on the cylinder axis
    • axis_direction.x : the X coordinate of the cylinder's axis direction
    • axis_direction.y : the Y coordinate of the cylinder's axis direction
    • axis_direction.z : the Z coordinate of the cylinder's axis direction
    • radius : the cylinder's radius 
（7） SACMODEL_CONE 
  • not implemented yet 
（8）SACMODEL_TORUS

  • not implemented yet 
（9） SACMODEL_PARALLEL_LINE（平行线）

  • a model for determining a line parallel with a given axis, within a maximum specified angular deviation. The line coefficients are similar toSACMODEL_LINE. 

SampleConsensusModelParallelLine defines a model for 3D line segmentation using additional angular constraints.  

The model coefficients are defined as:

  • point_on_line.x : the X coordinate of a point on the line
  • point_on_line.y : the Y coordinate of a point on the line
  • point_on_line.z : the Z coordinate of a point on the line
  • line_direction.x : the X coordinate of a line's direction
  • line_direction.y : the Y coordinate of a line's direction
  • line_direction.z : the Z coordinate of a line's direction 
（10） SACMODEL_PERPENDICULAR_PLANE
  • a model for determining a plane perpendicular to an user-specified axis, within a maximum specified angular deviation. The plane coefficients are similar to SACMODEL_PLANE. 
SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional angular constraints.

The plane must be perpendicular to an user-specified axis (setAxis), up to an user-specified angle threshold (setEpsAngle). The model coefficients are defined as:

  • a : the X coordinate of the plane's normal (normalized)
  • b : the Y coordinate of the plane's normal (normalized)
  • c : the Z coordinate of the plane's normal (normalized)
  • d : the fourth Hessian component of the plane's equation

Code example for a plane model, perpendicular (within a 15 degrees tolerance) with the Z axis:

 SampleConsensusModelPerpendicularPlane<pcl::PointXYZ> model (cloud);model.setAxis (Eigen::Vector3f (0.0, 0.0, 1.0));model.setEpsAngle (pcl::deg2rad (15));
Note:
Please remember that you need to specify an angle > 0 in order to activate the axis-angle constraint!


（11）SACMODEL_PARALLEL_LINES - not implemented yet 

（12） SACMODEL_NORMAL_PLANE
  • a model for determining plane models using an additional constraint: the surface normals at each inlier point has to be parallel to the surface normal of the output plane, within a maximum specified angular deviation. The plane coefficients are similar to SACMODEL_PLANE. 

    SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface normal constraints. 、

    Basically this means that checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum angular deviation" between the plane's normal and the inlier points normals.

    The model coefficients are defined as:

    • a : the X coordinate of the plane's normal (normalized)
    • b : the Y coordinate of the plane's normal (normalized)
    • c : the Z coordinate of the plane's normal (normalized)
    • d : the fourth Hessian component of the plane's equation 

    To set the influence of the surface normals in the inlier estimation process, set the normal weight (0.0-1.0), e.g.:

     SampleConsensusModelNormalPlane<pcl::PointXYZ, pcl::Normal> sac_model;...sac_model.setNormalDistanceWeight (0.1);...
（13） SACMODEL_PARALLEL_PLANE
  • a model for determining a plane parallel to an user-specified axis, within a maximim specified angular deviation. SACMODEL_PLANE. 

SampleConsensusModelParallelPlane defines a model for 3D plane segmentation using additional angular constraints.

The plane must be parallel to a user-specified axis (setAxis) within an user-specified angle threshold (setEpsAngle).

Code example for a plane model, parallel (within a 15 degrees tolerance) with the Z axis:

 SampleConsensusModelParallelPlane<pcl::PointXYZ> model (cloud);model.setAxis (Eigen::Vector3f (0.0, 0.0, 1.0));model.setEpsAngle (pcl::deg2rad (15));

（14） SACMODEL_NORMAL_PARALLEL_PLANE
  • defines a model for 3D plane segmentation using additional surface normal constraints. The plane must lieparallel to a user-specified axis. SACMODEL_NORMAL_PARALLEL_PLANE therefore is equivallent to SACMODEL_NORMAL_PLANE + SACMODEL_PARALLEL_PLANE. The plane coefficients are similar toSACMODEL_PLANE. 

SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional surface normal constraints. 


Basically this means that checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum angular deviation" between the plane's normal and the inlier points normals. In addition, the plane normal must lie parallel to an user-specified axis.

The model coefficients are defined as:

  • a : the X coordinate of the plane's normal (normalized)
  • b : the Y coordinate of the plane's normal (normalized)
  • c : the Z coordinate of the plane's normal (normalized)
  • d : the fourth Hessian component of the plane's equation

To set the influence of the surface normals in the inlier estimation process, set the normal weight (0.0-1.0), e.g.:

 SampleConsensusModelNormalPlane<pcl::PointXYZ, pcl::Normal> sac_model;...sac_model.setNormalDistanceWeight (0.1);...
举例：（使用参数化模型投影点云到三维平面）

用到ModelCoefficients结构和ProjectInliers滤波器

说明：填充ModelCoefficients的值，例子中使用了一个ax+by+cz+d=0的平面模型，其中a=b=d=0,c=1;

创建了ProjectInliers对象，并使用刚定义好的 ModelCoefficients作为投影对象的模型参数。


#include<iostream>
#include<pcl\point_cloud.h>
#include<pcl\point_types.h>
#include<pcl\ModelCoefficients.h>
#include<pcl\filters\project_inliers.h>
using namespace std;
int main()
{pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_projected(new pcl::PointCloud<pcl::PointXYZ>);cloud->width=5;cloud->height=1;cloud->points.resize(cloud->width*cloud->height);for(size_t i=0;i<cloud->points.size();i++){cloud->points[i].x=1024*rand()/(RAND_MAX+1.0f);cloud->points[i].y=1024*rand()/(RAND_MAX+1.0f);cloud->points[i].z=1024*rand()/(RAND_MAX+1.0f);}std::cerr<<"Cloud before projection:"<<std::endl;for(size_t i=0;i<cloud->points.size();i++)std::cerr<<' '<<cloud->points[i].x<<' '<<cloud->points[i].y<<' '<<cloud->points[i].z<<std::endl;//定义模型系数对象，并填充对应的数据pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());coefficients->values.resize(4);coefficients->values[0]=coefficients->values[1]=coefficients->values[3]=0;coefficients->values[2]=1.0;pcl::ProjectInliers<pcl::PointXYZ> proj;//创建投影滤波对象proj.setModelType(pcl::SACMODEL_PLANE);//设置对象对应的投影模型proj.setInputCloud(cloud);      //设置输入点云proj.setModelCoefficients(coefficients);//设置模型对应的系数proj.filter(*cloud_projected);std::cerr<<"Cloud after projection:"<<std::endl;for(size_t i=0;i<cloud->points.size();i++)std::cerr<<' '<<cloud_projected->points[i].x<<' '<<cloud_projected->points[i].y<<' '<<cloud_projected->points[i].z<<std::endl;system("pause");return 0;
}

总结：投影钱的z轴都不为0，是随机产生的值，投影之后，打印结果表明，x，y没有改变，z都变成0。

该投影滤波类输入为点云和投影模型，输出为投影到模型上之后的点云。

这篇关于PCL中Sample_consensus模块支持的几何模型的文章就介绍到这儿，希望我们推荐的文章对编程师们有所帮助！


http://www.chinasem.cn/article/359554。

相关文章

Python中re模块结合正则表达式的实际应用案例

Python中re模块结合正则表达式的实际应用案例

《Python中re模块结合正则表达式的实际应用案例》Python中的re模块是用于处理正则表达式的强大工具,正则表达式是一种用来匹配字符串的模式,它可以在文本中搜索和匹配特定的字符串模式,这篇文章主... 目录前言re模块常用函数一、查看文本中是否包含 A 或 B 字符串二、替换多个关键词为统一格式三、提
阅读更多...
k8s上运行的mysql、mariadb数据库的备份记录(支持x86和arm两种架构)

k8s上运行的mysql、mariadb数据库的备份记录(支持x86和arm两种架构)

《k8s上运行的mysql、mariadb数据库的备份记录(支持x86和arm两种架构)》本文记录在K8s上运行的MySQL/MariaDB备份方案,通过工具容器执行mysqldump,结合定时任务实... 目录前言一、获取需要备份的数据库的信息二、备份步骤1.准备工作（X86）1.准备工作（arm）2.手
阅读更多...
一文深入详解Python的secrets模块

一文深入详解Python的secrets模块

《一文深入详解Python的secrets模块》在构建涉及用户身份认证、权限管理、加密通信等系统时,开发者最不能忽视的一个问题就是“安全性”,Python在3.6版本中引入了专门面向安全用途的secr... 目录引言一、背景与动机：为什么需要 secrets 模块？二、secrets 模块的核心功能1. 基
阅读更多...
华为鸿蒙HarmonyOS 5.1官宣7月开启升级! 首批支持名单公布

华为鸿蒙HarmonyOS 5.1官宣7月开启升级! 首批支持名单公布

《华为鸿蒙HarmonyOS5.1官宣7月开启升级!首批支持名单公布》在刚刚结束的华为Pura80系列及全场景新品发布会上，除了众多新品的发布，还有一个消息也点燃了所有鸿蒙用户的期待，那就是Ha... 在今日的华为 Pura 80 系列及全场景新品发布会上，华为宣布鸿蒙 HarmonyOS 5.1 将于 7
阅读更多...
详解如何使用Python从零开始构建文本统计模型

详解如何使用Python从零开始构建文本统计模型

《详解如何使用Python从零开始构建文本统计模型》在自然语言处理领域,词汇表构建是文本预处理的关键环节,本文通过Python代码实践,演示如何从原始文本中提取多尺度特征,并通过动态调整机制构建更精确... 目录一、项目背景与核心思想二、核心代码解析1. 数据加载与预处理2. 多尺度字符统计3. 统计结果可
阅读更多...
SpringBoot整合Sa-Token实现RBAC权限模型的过程解析

SpringBoot整合Sa-Token实现RBAC权限模型的过程解析

《SpringBoot整合Sa-Token实现RBAC权限模型的过程解析》：本文主要介绍SpringBoot整合Sa-Token实现RBAC权限模型的过程解析,本文给大家介绍的非常详细,对大家的学... 目录前言一、基础概念1.1 RBAC模型核心概念1.2 Sa-Token核心功能1.3 环境准备二、表结
阅读更多...
Python logging模块使用示例详解

Python logging模块使用示例详解

《Pythonlogging模块使用示例详解》Python的logging模块是一个灵活且强大的日志记录工具,广泛应用于应用程序的调试、运行监控和问题排查,下面给大家介绍Pythonlogging模... 目录一、为什么使用 logging 模块？二、核心组件三、日志级别四、基本使用步骤五、快速配置（bas
阅读更多...
Python datetime 模块概述及应用场景

Python datetime 模块概述及应用场景

《Pythondatetime模块概述及应用场景》Python的datetime模块是标准库中用于处理日期和时间的核心模块,本文给大家介绍Pythondatetime模块概述及应用场景,感兴趣的朋... 目录一、python datetime 模块概述二、datetime 模块核心类解析三、日期时间格式化与
阅读更多...
Python如何调用指定路径的模块

Python如何调用指定路径的模块

《Python如何调用指定路径的模块》要在Python中调用指定路径的模块,可以使用sys.path.append,importlib.util.spec_from_file_location和exe... 目录一、sys.path.append() 方法1. 方法简介2. 使用示例3. 注意事项二、imp
阅读更多...
Python中模块graphviz使用入门

Python中模块graphviz使用入门

《Python中模块graphviz使用入门》graphviz是一个用于创建和操作图形的Python库,本文主要介绍了Python中模块graphviz使用入门,具有一定的参考价值,感兴趣的可以了解一... 目录1.安装2. 基本用法2.1 输出图像格式2.2 图像style设置2.3 属性2.4 子图和聚
阅读更多...

Copyright China编程 23002807@qq.com

沪ICP备2023033072号-2