点云平面拟合效果对比（Matlab/Opencv/C++）

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分类专栏： MFC OpenCV VS2015 3维处理

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//大部分数据点在一个平面效果测试（方法3，4有问题）

X=[1,1,1,2,2,2,3,3,3]; Y=[1,2,3,1,2,3,1,2,3]; Z=[5,5,5,5,5,5,5,8,8]; 矩阵S=[1,1,5;1,2,5;1,3,5;2,1,5;2,2,5;2,3,5;3,1,5;3,2,8;3,3,8];

S=[1,1,5;1,2,5;1,3,5;2,1,5;2,2,5;2,3,5;3,1,5;3,2,8;3,3,8]; [A1,B1,C1,D1] = PlaneFitting_1(S)
X=[1,1,1,2,2,2,3,3,3]; Y=[1,2,3,1,2,3,1,2,3]; Z=[5,5,5,5,5,5,5,8,8]; [A2,B2,C2,D2] = PlaneFitting_2(X,Y,Z)
X=[1,1,1,2,2,2,3,3,3]; Y=[1,2,3,1,2,3,1,2,3]; Z=[5,5,5,5,5,5,5,8,8]; [A3,B3,C3,D3] = PlaneFitting_3(X,Y,Z)

   //===============plane_Out=A4,B4,C4,D4
   vector <float > X_vector = { 1,1,1,2,2,2,3,3,3 };
   vector <float > Y_vector = { 1,2,3,1,2,3,1,2,3 };
   vector <float > Z_vector = { 5,5,5,5,5,5,5,8,8};

//float *plane_Out;
//cvFitPlane(X_vector, Y_vector, Z_vector, *plane_Out);

   float plane_Out[4];
   FitPlane_1(X_vector, Y_vector, Z_vector,plane_Out);
   //Ax+by+cz=D
   //===============Para=A5,B5,C5,D5
   double A[9][3] = { 1,1,5,1,2,5,1,3,5,2,1,5,2,2,5,2,3,5,3,1,5,3,2,8,3,3,8 };
   double Para[3];
   LinearFit(A, 5, Para);
   //Ax+By+1Z=D
   //printf("%lf %lf %lf", Para[0], Para[1], Para[2]);
   //===========================================================

//========结果:

A1,B1,C1,D1=[0.7777, 0.3889, -0.4939,-0.4655] fitPlane1
A2,B2,C2,D2=[1,0.5,-1,-2.6667] fitPlane2
A3,B3,C3,D3=[1,1.4901e-08,0,2] fitPlane3
A4,B4,C4,D4=[-1.0490e-15,1,9.0778e-20,-1] fitPlane4
A5,B5,C5,D5=[-0.777726769, -0.388863564, 0.493888885, 0.465523005] Opencv
A6,B6,C6,D6=[-2.4868995751603507e-13, -1.4566126083082054e-13,1， 5.0000000000006537] C++

Show_Point(X,Y,Z)
Show_Plane(A1,B1,C1,D1,-5,5,-5,5)
Show_Plane(A2,B2,C2,D2,-5,5,-5,5)
Show_Plane(A3,B3,C3,D3,-5,5,-5,5)
Show_Plane(A4,B4,C4,D4,-5,5,-5,5)
Show_Plane(A5,B5,C5,D5,-5,5,-5,5)

//====================================================================================效果：

//================================================

//测试1===============================================================大部分数据点在一个平面效果测试（方法3有问题）
S=[1,1,5;1,2,5;1,3,5;2,1,5;2,2,5;2,3,5;3,1,5;3,2,8;3,3,8]; [A1,B1,C1,D1] = PlaneFitting_1(S)
X=[1,1,1,2,2,2,3,3,3]; Y=[1,2,3,1,2,3,1,2,3]; Z=[5,5,5,5,5,5,5,8,8]; [A2,B2,C2,D2] = PlaneFitting_2(X,Y,Z)
X=[1,1,1,2,2,2,3,3,3]; Y=[1,2,3,1,2,3,1,2,3]; Z=[5,5,5,5,5,5,5,8,8]; [A3,B3,C3,D3] = PlaneFitting_3(X,Y,Z)

A1,B1,C1,D1=[0.7777, 0.3889, -0.4939,-0.4655] fitPlane1
A2,B2,C2,D2=[1,0.5,-1,-2.6667] fitPlane2
A3,B3,C3,D3=[1,1.4901e-08,0,2] fitPlane3
A5,B5,C5,D5=[-0.777726769, -0.388863564, 0.493888885, 0.465523005] Opencv和你和方法1结果一样
A6,B6,C6,D6=[-2.4868995751603507e-13,-1.4566126083082054e-13,1, 5.0000000000006537] C++

Show_Point(X,Y,Z)
Show_Plane(A1,B1,C1,D1,-5,5,-5,5)
Show_Plane(A2,B2,C2,D2,-5,5,-5,5)
Show_Plane(A3,B3,C3,D3,-5,5,-5,5)

Show_Plane(A5,B5,C5,D5,-5,5,-5,5)
Show_Plane(A6,B6,C6,D6,-5,5,-5,5)

//测试2===============================================================大量数据点并且不在一个平面效果测试（）
S=[1,1,3;1,2,4;1,3,6;1,4,8;1,5,3;2,1,2;2,2,4;2,3,5;2,4,6;2,5,3;3,1,7;3,2,5;3,3,4;3,4,3;3,5,5;4,1,2;4,2,4;4,3,5;4,4,6;4,5,3;]; [A1,B1,C1,D1] = PlaneFitting_1(S)
X=[1,1,1,1,1,2,2,2,2,2,3,3,3,3,3,4,4,4,4,4]; Y=[1,2,3,4,5,1,2,3,4,5,1,2,3,4,5,1,2,3,4,5]; Z=[3,4,6,8,3,2,4,5,6,3,7,5,4,3,5,2,4,5,6,3]; [A2,B2,C2,D2] = PlaneFitting_2
(X,Y,Z)
X=[1,1,1,1,1,2,2,2,2,2,3,3,3,3,3,4,4,4,4,4]; Y=[1,2,3,4,5,1,2,3,4,5,1,2,3,4,5,1,2,3,4,5]; Z=[3,4,6,8,3,2,4,5,6,3,7,5,4,3,5,2,4,5,6,3]; [A3,B3,C3,D3] = PlaneFitting_3
(X,Y,Z)

A1,B1,C1,D1=[0.9846, -0.0624, 0.1630,2.9915] fitPlane1
A2,B2,C2,D2=[-0.1600,0.1500,-1,-4.3500] fitPlane2 OK
A3,B3,C3,D3=[1,1.8626e-09,0,2.5000] fitPlane3
A5,B5,C5,D5=[0.984648466, -0.0624423623, 0.162997052, 2.99148130] Opencv和你和方法1结果一样
A6,B6,C6,D6=[-0.1599999, 0.15000000,1, 4.349999] C++ OK符号还有问题和方法2

//测试3===============================================================数据接近接近实际生产（Z变化较小）
S=[1,1,3.3;1,2,3.4;1,3,3.6;1,4,3.8;1,5,3.3;2,1,3.2;2,2,3.4;2,3,3.5;2,4,3.6;2,5,3.3;3,1,3.7;3,2,3.5;3,3,3.4;3,4,3.3;3,5,3.5;4,1,3.2;4,2,3.4;4,3,3.5;4,4,3.6;4,5,3.3;];
[A1,B1,C1,D1] = PlaneFitting_1(S)
X=[1,1,1,1,1,2,2,2,2,2,3,3,3,3,3,4,4,4,4,4]; Y=[1,2,3,4,5,1,2,3,4,5,1,2,3,4,5,1,2,3,4,5]; Z=
[3.3,3.4,3.6,3.8,3.3,3.2,3.4,3.5,3.6,3.3,3.7,3.5,3.4,3.3,3.5,3.2,3.4,3.5,3.6,3.3]; [A2,B2,C2,D2] = PlaneFitting_2(X,Y,Z)
X=[1,1,1,1,1,2,2,2,2,2,3,3,3,3,3,4,4,4,4,4]; Y=[1,2,3,4,5,1,2,3,4,5,1,2,3,4,5,1,2,3,4,5];
[3.3,3.4,3.6,3.8,3.3,3.2,3.4,3.5,3.6,3.3,3.7,3.5,3.4,3.3,3.5,3.2,3.4,3.5,3.6,3.3] [A3,B3,C3,D3] = PlaneFitting_3(X,Y,Z)

A1,B1,C1,D1=[0.0163, -0.0152, 0.9998,3.4344] fitPlane1 OK
A2,B2,C2,D2=[-0.0160,0.0150,-1,-3.4350] fitPlane2 OK
A3,B3,C3,D3=[1,1.8626e-09,0,2.5000] fitPlane3 有问题
A5,B5,C5,D5=[0.0163173713, -0.0151831107, 0.999751508, 3.43438983] Opencv和你和方法1结果一样 OK
A6,B6,C6,D6=[-0.015999999999953829, 0.015000000000033431,1, 3.4349999999997607] OK符号还有问题和方法2

数据趋于接近一个平面时，平面方程的结果基本相同的

//==========================================总结

总结：除了方法3有问题，1，2，5，6结果基本相同。（一带基本总感觉要被骂的感觉）

其中拟合2是一直用的方法效果最佳，不过因为是Matlab方法，所以不能用，最终选择方法6，C++方法。