点云知识初步理解

1. 点云的基本组成
   点云数据可以由空间坐标或加其他的形式出现，如
   空间坐标（x,y,z）
   空间坐标+强度 （x,y,z,i）
   空间坐标+颜色信息 （x,y,z,（r,g,b））
   空间坐标+法向量（x,y,z,n）

2. 点云存储格式
   pcd文件：包含文件说明和点云数据两部分，文件说明由11行组成，包括文件说明、版本、字节数、类型、维度等，从第12行开始为点云数据。
   ply文件：包括文件说明和点云数据两个部分，前三行与最后一行是描述语句，中间包含数据类型、数据数量及其属性等和按行存储的数据值。
   txt文件：通常只包含点云数据不包含文件说明。txt中每一行即为一个点，行数则代表点数

3. 点云体素
   为了让三维点云也具备二维图像一样的均匀分布，体素将整个三维空间分为立体方格，体素可以将三维空间中的点云变为均匀分布的空间，使得点云数据均匀化。

4. 点云的法向量
   对于一个点的点云数据，其法向量是由周围点云数据计算拟合得到的平面

5. 点云的拼接
   对于不同视点的点云数据，需要通过点云配准来解决坐标系不一致的问题，例如ICP算法等

6. 点云的旋转
   点云旋转通过欧拉角、旋转矩阵、旋转向量和四元数等描述

   欧拉角：
   
   旋转矩阵
   

7. 点云数据增强的方法
   7.1 中心归一化，沿着point这个维度，减去均值并处以点距离原点的最大距离。

def pc_normalize(pc):
    centroid = np.mean(pc, axis=0)
    pc = pc - centroid
    m = np.max(np.sqrt(np.sum(pc ** 2, axis=1)))
    pc = pc / m
    return pc

7.2 打乱点云顺序

 def shuffle_points(batch_data):
    """ Shuffle orders of points in each point cloud -- changes FPS behavior.
        Use the same shuffling idx for the entire batch.
        Input:
            BxNxC array
        Output:
            BxNxC array
    """
    idx = np.arange(batch_data.shape[1])
    np.random.shuffle(idx)
    return batch_data[:,idx,:]

7.3 点云随机旋转，使用旋转矩阵

def rotate_point_cloud(batch_data):
    """ Randomly rotate the point clouds to augument the dataset
        rotation is per shape based along up direction
        Input:
          BxNx3 array, original batch of point clouds
        Return:
          BxNx3 array, rotated batch of point clouds
    """
    rotated_data = np.zeros(batch_data.shape, dtype=np.float32)
    for k in range(batch_data.shape[0]):
        rotation_angle = np.random.uniform() * 2 * np.pi
        cosval = np.cos(rotation_angle)
        sinval = np.sin(rotation_angle)
        rotation_matrix = np.array([[cosval, 0, sinval],
                                    [0, 1, 0],
                                    [-sinval, 0, cosval]])
        shape_pc = batch_data[k, ...]
        rotated_data[k, ...] = np.dot(shape_pc.reshape((-1, 3)), rotation_matrix)
    return rotated_data

7.4 Z方向的点云随机旋转

def rotate_point_cloud_z(batch_data):
    """ Randomly rotate the point clouds to augument the dataset
        rotation is per shape based along up direction
        Input:
          BxNx3 array, original batch of point clouds
        Return:
          BxNx3 array, rotated batch of point clouds
    """
    rotated_data = np.zeros(batch_data.shape, dtype=np.float32)
    for k in range(batch_data.shape[0]):
        rotation_angle = np.random.uniform() * 2 * np.pi
        cosval = np.cos(rotation_angle)
        sinval = np.sin(rotation_angle)
        rotation_matrix = np.array([[cosval, sinval, 0],
                                    [-sinval, cosval, 0],
                                    [0, 0, 1]])
        shape_pc = batch_data[k, ...]
        rotated_data[k, ...] = np.dot(shape_pc.reshape((-1, 3)), rotation_matrix)
    return rotated_data

7.5 点云的随机扰动

def jitter_point_cloud(batch_data, sigma=0.01, clip=0.05):
    """ Randomly jitter points. jittering is per point.
        Input:
          BxNx3 array, original batch of point clouds
        Return:
          BxNx3 array, jittered batch of point clouds
    """
    B, N, C = batch_data.shape
    assert(clip > 0)
    jittered_data = np.clip(sigma * np.random.randn(B, N, C), -1*clip, clip)
    jittered_data += batch_data
    return jittered_data

7.6 点云的随机平移

def shift_point_cloud(batch_data, shift_range=0.1):
    """ Randomly shift point cloud. Shift is per point cloud.
        Input:
          BxNx3 array, original batch of point clouds
        Return:
          BxNx3 array, shifted batch of point clouds
    """
    B, N, C = batch_data.shape
    shifts = np.random.uniform(-shift_range, shift_range, (B,3))
    for batch_index in range(B):
        batch_data[batch_index,:,:] += shifts[batch_index,:]
    return batch_data

7.7 点云的随机缩放

def random_scale_point_cloud(batch_data, scale_low=0.8, scale_high=1.25):
    """ Randomly scale the point cloud. Scale is per point cloud.
        Input:
            BxNx3 array, original batch of point clouds
        Return:
            BxNx3 array, scaled batch of point clouds
    """
    B, N, C = batch_data.shape
    scales = np.random.uniform(scale_low, scale_high, B)
    for batch_index in range(B):
        batch_data[batch_index,:,:] *= scales[batch_index]
    return batch_data

7.8 点云的随机丢弃

def random_point_dropout(batch_pc, max_dropout_ratio=0.875):
    ''' batch_pc: BxNx3 '''
    for b in range(batch_pc.shape[0]):
        dropout_ratio =  np.random.random()*max_dropout_ratio # 0~0.875
        drop_idx = np.where(np.random.random((batch_pc.shape[1]))<=dropout_ratio)[0]
        if len(drop_idx)>0:
            batch_pc[b,drop_idx,:] = batch_pc[b,0,:] # set to the first point
    return batch_pc

代码来源于https://github.com/yanx27/Pointnet_Pointnet2_pytorch