PCL使用笔记——PCA算法

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参考链接:http://pointclouds.org/documentation/tutorials/moment_of_inertia.php#moment-of-inertia

该算法是一种常用的数据分析方法,通过线性变换来进行降维处理,可用于计算提取数据的特征分量。这里也可以用于计算点云的主方向。主要代码和官方文档见参考链接,具体原理百度一大堆,,,,拒绝搬运,从我做起。

 

 

测试代码:

#include <pcl/features/moment_of_inertia_estimation.h>
#include <vector>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/obj_io.h>
#include <pcl/point_cloud.h>
#include <pcl/PolygonMesh.h>
#include <pcl/io/vtk_lib_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/cloud_viewer.h>
#include <boost/thread/thread.hpp>

#include<iostream>


#include <opencv2/opencv.hpp>

using namespace std;
using namespace cv;


//#define USE_OBJ  //默认为读深度图

int main (int argc, char** argv)
{
  
#ifdef USE_OBJ

	pcl::PolygonMesh mesh;
    pcl::io::loadPolygonFile("test.obj", mesh);

	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ());
	pcl::fromPCLPointCloud2(mesh.cloud, *cloud);

#else
	const double cx_depth = 311.821 ;  //0.25是因为降采样了2次
	const double cy_depth = 245.324 ;
	const double fx_depth = 474.983 ;
	const double fy_depth = 474.983 ;

	Mat depth = imread("depth1.png",-1);
    //Mat image = imread("image0.jpg");
	int rowNumber = depth.rows;
	int colNumber = depth.cols;

	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	for (unsigned int v = 0; v < rowNumber; ++v)
	{
		for (unsigned int u = 0; u < colNumber; ++u)
		{
			unsigned int num = v*colNumber + u;
			double Xw = 0.0, Yw = 0.0, Zw = 0.0;

			Zw = (depth.ptr<unsigned short>(v)[u]) * 0.000124987;
			if(Zw <= 0.0001) continue;
			Xw = (u - cx_depth) * Zw / (fx_depth);
			Yw = (v - cy_depth) * Zw / (fy_depth);
			pcl::PointXYZ p;
			p.x = Xw;  p.y = Yw; p.z = Zw;

			cloud->points.push_back(p);
		}
	}


#endif

//  if (pcl::io::loadPCDFile (argv[1], *cloud) == -1)
//    return (-1);

  pcl::MomentOfInertiaEstimation <pcl::PointXYZ> feature_extractor;
  feature_extractor.setInputCloud (cloud);
  feature_extractor.compute ();

  std::vector <float> moment_of_inertia;
  std::vector <float> eccentricity;
  pcl::PointXYZ min_point_AABB;
  pcl::PointXYZ max_point_AABB;
  pcl::PointXYZ min_point_OBB;
  pcl::PointXYZ max_point_OBB;
  pcl::PointXYZ position_OBB;
  Eigen::Matrix3f rotational_matrix_OBB;
  float major_value, middle_value, minor_value;
  Eigen::Vector3f major_vector, middle_vector, minor_vector;
  Eigen::Vector3f mass_center;

  feature_extractor.getMomentOfInertia (moment_of_inertia);
  feature_extractor.getEccentricity (eccentricity);
  feature_extractor.getAABB (min_point_AABB, max_point_AABB);
  feature_extractor.getOBB (min_point_OBB, max_point_OBB, position_OBB, rotational_matrix_OBB);
  feature_extractor.getEigenValues (major_value, middle_value, minor_value);
  feature_extractor.getEigenVectors (major_vector, middle_vector, minor_vector);
  feature_extractor.getMassCenter (mass_center);

  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  viewer->setBackgroundColor (0, 0, 0);
  viewer->addCoordinateSystem (1.0);
  viewer->initCameraParameters ();
  viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");
  viewer->addCube (min_point_AABB.x, max_point_AABB.x, min_point_AABB.y, max_point_AABB.y, min_point_AABB.z, max_point_AABB.z, 1.0, 1.0, 0.0, "AABB");

  Eigen::Vector3f position (position_OBB.x, position_OBB.y, position_OBB.z);
  Eigen::Quaternionf quat (rotational_matrix_OBB);
  viewer->addCube (position, quat, max_point_OBB.x - min_point_OBB.x, max_point_OBB.y - min_point_OBB.y, max_point_OBB.z - min_point_OBB.z, "OBB");

  pcl::PointXYZ center (mass_center (0), mass_center (1), mass_center (2));
  pcl::PointXYZ x_axis (major_vector (0) + mass_center (0), major_vector (1) + mass_center (1), major_vector (2) + mass_center (2));
  pcl::PointXYZ y_axis (middle_vector (0) + mass_center (0), middle_vector (1) + mass_center (1), middle_vector (2) + mass_center (2));
  pcl::PointXYZ z_axis (minor_vector (0) + mass_center (0), minor_vector (1) + mass_center (1), minor_vector (2) + mass_center (2));
  viewer->addLine (center, x_axis, 1.0f, 0.0f, 0.0f, "major eigen vector");
  viewer->addLine (center, y_axis, 0.0f, 1.0f, 0.0f, "middle eigen vector");
  viewer->addLine (center, z_axis, 0.0f, 0.0f, 1.0f, "minor eigen vector");

	cout<<mass_center (0)<<" "<<mass_center (1)<<" "<<mass_center (2)<<endl;

  //Eigen::Vector3f p1 (min_point_OBB.x, min_point_OBB.y, min_point_OBB.z);
  //Eigen::Vector3f p2 (min_point_OBB.x, min_point_OBB.y, max_point_OBB.z);
  //Eigen::Vector3f p3 (max_point_OBB.x, min_point_OBB.y, max_point_OBB.z);
  //Eigen::Vector3f p4 (max_point_OBB.x, min_point_OBB.y, min_point_OBB.z);
  //Eigen::Vector3f p5 (min_point_OBB.x, max_point_OBB.y, min_point_OBB.z);
  //Eigen::Vector3f p6 (min_point_OBB.x, max_point_OBB.y, max_point_OBB.z);
  //Eigen::Vector3f p7 (max_point_OBB.x, max_point_OBB.y, max_point_OBB.z);
  //Eigen::Vector3f p8 (max_point_OBB.x, max_point_OBB.y, min_point_OBB.z);

  //p1 = rotational_matrix_OBB * p1 + position;
  //p2 = rotational_matrix_OBB * p2 + position;
  //p3 = rotational_matrix_OBB * p3 + position;
  //p4 = rotational_matrix_OBB * p4 + position;
  //p5 = rotational_matrix_OBB * p5 + position;
  //p6 = rotational_matrix_OBB * p6 + position;
  //p7 = rotational_matrix_OBB * p7 + position;
  //p8 = rotational_matrix_OBB * p8 + position;

  //pcl::PointXYZ pt1 (p1 (0), p1 (1), p1 (2));
  //pcl::PointXYZ pt2 (p2 (0), p2 (1), p2 (2));
  //pcl::PointXYZ pt3 (p3 (0), p3 (1), p3 (2));
  //pcl::PointXYZ pt4 (p4 (0), p4 (1), p4 (2));
  //pcl::PointXYZ pt5 (p5 (0), p5 (1), p5 (2));
  //pcl::PointXYZ pt6 (p6 (0), p6 (1), p6 (2));
  //pcl::PointXYZ pt7 (p7 (0), p7 (1), p7 (2));
  //pcl::PointXYZ pt8 (p8 (0), p8 (1), p8 (2));

  //viewer->addLine (pt1, pt2, 1.0, 0.0, 0.0, "1 edge");
  //viewer->addLine (pt1, pt4, 1.0, 0.0, 0.0, "2 edge");
  //viewer->addLine (pt1, pt5, 1.0, 0.0, 0.0, "3 edge");
  //viewer->addLine (pt5, pt6, 1.0, 0.0, 0.0, "4 edge");
  //viewer->addLine (pt5, pt8, 1.0, 0.0, 0.0, "5 edge");
  //viewer->addLine (pt2, pt6, 1.0, 0.0, 0.0, "6 edge");
  //viewer->addLine (pt6, pt7, 1.0, 0.0, 0.0, "7 edge");
  //viewer->addLine (pt7, pt8, 1.0, 0.0, 0.0, "8 edge");
  //viewer->addLine (pt2, pt3, 1.0, 0.0, 0.0, "9 edge");
  //viewer->addLine (pt4, pt8, 1.0, 0.0, 0.0, "10 edge");
  //viewer->addLine (pt3, pt4, 1.0, 0.0, 0.0, "11 edge");
  //viewer->addLine (pt3, pt7, 1.0, 0.0, 0.0, "12 edge");

  while(!viewer->wasStopped())
  {
    viewer->spinOnce (100);
    boost::this_thread::sleep (boost::posix_time::microseconds (100000));
  }

  return (0);
}

 

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