Open3D点云配准介绍-点对点配准

点对点配准

两个点云中对应的要进行点对点配准的顶点进行严格的点对点配准。

API接口

def registration_ransac_based_on_correspondence(source, target, corres, max_correspondence_distance, estimation_method=None, *args, **kwargs): # real signature unknown; NOTE: unreliably restored from __doc__ 
    """
    registration_ransac_based_on_correspondence(source, target, corres, max_correspondence_distance, estimation_method=TransformationEstimationPointToPoint without scaling., ransac_n=3, checkers=[], criteria=RANSACConvergenceCriteria class with max_iteration=100000, and confidence=9.990000e-01)
    Function for global RANSAC registration based on a set of correspondences
    
    Args:
        source (open3d.geometry.PointCloud): 源点云.
        target (open3d.geometry.PointCloud): 目标点云.
        corres (open3d.utility.Vector2iVector): o3d.utility.Vector2iVector 特征点索引对.
        max_correspondence_distance (float): 最大点对响应距离.
        estimation_method (open3d.pipelines.registration.TransformationEstimation, optional, default=TransformationEstimationPointToPoint without scaling.): 评估方法. One of (``TransformationEstimationPointToPoint``, ``TransformationEstimationPointToPlane``, ``TransformationEstimationForGeneralizedICP``, ``TransformationEstimationForColoredICP``)
        ransac_n (int, optional, default=3): Fit ransac with ``ransac_n`` correspondences
        checkers (List[open3d.pipelines.registration.CorrespondenceChecker], optional, default=[]): Vector of Checker class to check if two point clouds can be aligned. One of (``CorrespondenceCheckerBasedOnEdgeLength``, ``CorrespondenceCheckerBasedOnDistance``, ``CorrespondenceCheckerBasedOnNormal``)
        criteria (open3d.pipelines.registration.RANSACConvergenceCriteria, optional, default=RANSACConvergenceCriteria class with max_iteration=100000, and confidence=9.990000e-01): Convergence criteria
    
    Returns:
        open3d.pipelines.registration.RegistrationResult
    """
    pass

案例

import copy
from open3d.cpu.pybind.pipelines import *
from open3d.cpu.pybind import io, geometry, visualization, utility


def draw_registration_result_original_color(source, target, transformation, show_coord=False, coord_length=200):
    """
    :param source:
    :param target:
    :param transformation:
    :param show_coord: 是否显示坐标轴网格
    """
    source_temp = copy.deepcopy(source)
    source_temp.transform(transformation)

    geomes = [source_temp, target]

    if show_coord:
        # 坐标系网格
        mesh = geometry.TriangleMesh().create_coordinate_frame(size=coord_length)
        geomes.append(mesh)

    visualization.draw_geometries(geomes,
                                  point_show_normal=False,
                                  mesh_show_wireframe=True)
    pass


if __name__ == '__main__':
    # 原点云，要被进行矩阵变换的点云
    pcd_source = io.read_point_cloud(f'./pcd_source.ply')
    # 目标点云，希望变换到该点云位置的点云
    pcd_target = io.read_point_cloud(f'./pcd_target.ply')
    # 要进行点对点配准的 顶点索引对, 最少3个索引对(一定概率失败)，建议4个索引对及以上！
    corres = [[0, 0], [1, 1], [2, 2], [7, 23]]
    corres = utility.Vector2iVector(corres)  # 进行格式转换
    # 该参数根据具体点云特征进行适当变更，如果值太小两点云会无法重合！
    max_correspondence_distance = 10

    # 调用点对点配准接口
    result_icp = registration.registration_ransac_based_on_correspondence(
        pcd_source, pcd_target,
        corres, max_correspondence_distance)

    # 获取变换矩阵
    transformation = result_icp.transformation
    print(result_icp)

    # 给点云上色
    pcd_source.paint_uniform_color([1, 0.706, 0])  # source 为黄色
    pcd_target.paint_uniform_color([0, 0.651, 0.929])  # target 为蓝色
    draw_registration_result_original_color(pcd_source, pcd_target, transformation)
    pass

注释

案例中是分别将 源点云的 第 0，1，2，7个点和目标点云的第 0，1，2，23 个点进行点对点配准！