PiontCloud
Christo3
在心上用功,于事上磨练。
专注于图像算法,在人工智能期刊neurocomputing发表论文一篇,申请5篇国家发明专利,已授权3项。
持续学习,保持谦卑,保持空杯心态。
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PCL学习笔记(46)——HybirdICP
源码#include <boost/thread/thread.hpp>#include <boost/filesystem.hpp>#include <pcl/io/io.h>#include <pcl/io/pcd_io.h>#include <pcl/features/integral_image_normal.h>#include <pcl/visualization/cloud_viewer.h>#include原创 2021-09-25 10:20:40 · 174 阅读 · 1 评论 -
PCL学习笔记(45)——超体分割SupervoxelClustering
论文地址pdf下载地址源码#include <pcl/console/parse.h>#include <pcl/point_cloud.h>#include <pcl/point_types.h>#include <pcl/io/pcd_io.h>#include <pcl/visualization/pcl_visualizer.h>#include <pcl/segmentation/supervoxel_clusteri原创 2021-09-24 16:31:55 · 685 阅读 · 3 评论 -
PCL学习笔记(44)——基于法线微分的DoN算法详解
DON算法1 DoN算法算法原理1.1 动机1.2 原理解析1.3 实验结果1.3 其他2 源码测试2.1 源码2.2 程序主要过程3 其他1 DoN算法算法原理首先算法的核心是利用多尺度的方法来提高模型的分割效果,但是多尺度在二维图像中有较多的应用,三维点云图像中应用较少,在二维图像中,尺度空间的概念通常用通过高斯核的卷积逐渐平滑的图像来描述,这样的高斯尺度空间在图像处理和二维计算机视觉中有广泛的应用,如边缘锐化和兴趣点选择。而将比例空间的概念扩展到无组织三维点云是一项非常困难的任务,因为缺少常规的从原创 2021-09-24 10:54:17 · 2428 阅读 · 1 评论 -
PCL学习笔记(43)——点云最小割minCut分割算法
源码#include <iostream>#include <vector>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/visualization/cloud_viewer.h>#include <pcl/filters/passthrough.h>#include <pcl/segmentation/min_cut_segm原创 2021-09-23 16:00:14 · 449 阅读 · 0 评论 -
PCL学习笔记(42)——点云区域生长RegionGrowing分割算法
源码#include <iostream>#include <vector>#include <pcl/point_types.h>#include <pcl/io/pcd_io.h>#include <pcl/search/search.h>#include <pcl/search/kdtree.h>#include <pcl/features/normal_3d.h>#include <pcl/vi原创 2021-09-23 14:46:51 · 3060 阅读 · 1 评论 -
PCL学习笔记(41)——基于聚类的分割方法EuclideanClusterExtraction
源码#include <pcl/ModelCoefficients.h>#include <pcl/point_types.h>#include <pcl/io/pcd_io.h>#include <pcl/filters/extract_indices.h>#include <pcl/filters/voxel_grid.h>#include <pcl/features/normal_3d.h>#include <原创 2021-09-23 14:03:05 · 2542 阅读 · 0 评论 -
PCL学习笔记(40)——采样一致性分割算法分割圆柱体
源码#include <pcl/ModelCoefficients.h>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/filters/extract_indices.h>#include <pcl/filters/passthrough.h>#include <pcl/features/normal_3d.h>#include <原创 2021-09-23 11:41:53 · 438 阅读 · 0 评论 -
PCL学习笔记(39)——点云一致性分割算法SACSegmentation
源码#include <iostream>#include <pcl/ModelCoefficients.h>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/sample_consensus/method_types.h>#include <pcl/sample_consensus/model_types.h>#include <原创 2021-09-23 10:04:10 · 4228 阅读 · 1 评论 -
PCL学习笔记(38)——交互式ICP
源码#include <iostream>#include <string>#include <pcl/io/ply_io.h>#include <pcl/point_types.h>#include <pcl/registration/icp.h>#include <pcl/visualization/pcl_visualizer.h>#include <pcl/console/time.h> // T原创 2021-09-23 08:29:57 · 249 阅读 · 0 评论 -
PCL学习笔记(37)——基于正态分布的点云配准
源码#include <iostream>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/registration/ndt.h>#include <pcl/filters/approximate_voxel_grid.h>#include <pcl/visualization/pcl_visualizer.h>#include <原创 2021-09-22 19:43:20 · 223 阅读 · 0 评论 -
PCL学习笔记(36)——IterativeClosestPointNonLinear点云配准
源码/* \author Radu Bogdan Rusu* adaptation Raphael Favier*/#include <boost/make_shared.hpp>#include <pcl/point_types.h>#include <pcl/point_cloud.h>#include <pcl/point_representation.h>#include <pcl/io/pcd_io.h>#include原创 2021-09-22 19:04:58 · 1278 阅读 · 1 评论 -
PCL学习笔记(36)——ICP点云配准
源码#include <iostream>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/registration/icp.h>int main (int argc, char** argv){ pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in (new pcl::PointCloud<pcl::P原创 2021-09-22 15:45:24 · 271 阅读 · 0 评论 -
PCL学习笔记(35)——3D物体识别
源码#include <pcl/io/pcd_io.h>#include <pcl/point_cloud.h>#include <pcl/correspondence.h>#include <pcl/features/normal_3d_omp.h>#include <pcl/features/shot_omp.h>#include <pcl/features/board.h>#include <pcl/keypo原创 2021-09-22 09:27:46 · 859 阅读 · 0 评论 -
PCL学习笔记(34)——基于法线的边界提取
源码#include <iostream>#include <pcl/console/parse.h>#include <pcl/filters/extract_indices.h>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/visualization/pcl_visualizer.h>#include <boost/thr原创 2021-09-21 14:29:20 · 748 阅读 · 0 评论 -
PCL学习笔记(33)——基于惯性矩与偏心率的描述子
源码#include <pcl/features/moment_of_inertia_estimation.h>#include <vector>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/visualization/cloud_viewer.h>#include <boost/thread/thread.hpp>int main原创 2021-09-21 14:16:00 · 337 阅读 · 0 评论 -
PCL学习笔记(32)——ROPS特征描述
源码一、相比于其他的特征描述,ROPS需要三个输入数据:1.points: 输入点云2.indices: RoPS特征点的标号(即关键点在点云中的下标)3.triangles:三角面元#include <pcl/features/rops_estimation.h>#include <pcl/io/pcd_io.h>#include <pcl/visualization/histogram_visualizer.h>#include<pcl/visu原创 2021-09-21 11:33:52 · 839 阅读 · 1 评论 -
PCL学习笔记(31)——使用积分图估计法线向量
源码 #include <pcl/io/io.h>#include <pcl/io/pcd_io.h>#include <pcl/features/integral_image_normal.h>#include <pcl/visualization/cloud_viewer.h>int main (){ //加载点云 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl:原创 2021-09-21 10:45:28 · 323 阅读 · 0 评论 -
PCL学习笔记(30)——法线估计normal_estimation
源码#include <pcl/io/io.h>#include <pcl/io/pcd_io.h>#include <pcl/features/integral_image_normal.h>#include <pcl/visualization/cloud_viewer.h>#include <pcl/point_types.h>#include <pcl/features/normal_3d.h>int main原创 2021-09-21 10:04:20 · 1295 阅读 · 1 评论 -
PCL学习笔记(29)——随机抽样一致RandomSampleConsensus
源码#include <iostream>#include <pcl/console/parse.h>#include <pcl/filters/extract_indices.h>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/sample_consensus/ransac.h>#include <pcl/sample_cons原创 2021-09-21 09:04:42 · 993 阅读 · 0 评论 -
PCL学习笔记(28)——对应分组correspondence_grouping
源码#include <pcl/io/pcd_io.h>#include <pcl/point_cloud.h>#include <pcl/correspondence.h>#include <pcl/features/normal_3d_omp.h>#include <pcl/features/shot_omp.h>#include <pcl/features/board.h>#include <pcl/keypo原创 2021-09-21 08:07:14 · 696 阅读 · 0 评论 -
PCL学习笔记(27)——Harris角点检测
源码#include <iostream>#include <pcl\io\pcd_io.h>#include <pcl/point_cloud.h>#include <pcl/visualization/pcl_visualizer.h>#include <pcl/io/io.h>#include <pcl/keypoints/harris_3D.h>//harris特征点估计类头文件声明#include <cst原创 2021-09-20 16:06:22 · 950 阅读 · 0 评论 -
PCL学习笔记(26)——sift关键点检测
源码#include <iostream>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/common/io.h>#include <pcl/keypoints/sift_keypoint.h>#include <pcl/features/normal_3d.h>#include <pcl/visualization/pcl_vi原创 2021-09-20 15:50:53 · 361 阅读 · 0 评论 -
PCL学习笔记(25)——narf关键点检测
源码/* \author Bastian Steder */#include <iostream>#include <boost/thread/thread.hpp>#include <pcl/range_image/range_image.h>#include <pcl/io/pcd_io.h>#include <pcl/visualization/range_image_visualizer.h>#include <pcl原创 2021-09-20 15:13:52 · 296 阅读 · 0 评论 -
PCL学习笔记(24)——贪婪投影三角化算法greedy_projection
源码#include <pcl/range_image/range_image.h>#include <pcl/range_image/range_image_planar.h>#include <pcl/io/io.h>#include <pcl/io/pcd_io.h>#include <pcl/features/integral_image_normal.h>#include <pcl/visualization/cloud原创 2021-09-20 14:38:45 · 1085 阅读 · 0 评论 -
PCL学习笔记(23)——深度图边界提取range_image_border_extraction
源码/* \author Bastian Steder */#include <iostream>#include <boost/thread/thread.hpp>#include <pcl/range_image/range_image.h>#include <pcl/io/pcd_io.h>#include <pcl/visualization/range_image_visualizer.h>#include <pcl/原创 2021-09-20 14:04:43 · 654 阅读 · 0 评论 -
PCL学习笔记(22)——深度图生成及显示range_image_create
源码#include <pcl/range_image/range_image.h>#include <pcl/visualization/pcl_visualizer.h>#include <pcl/visualization/range_image_visualizer.h>void setViewerPose(pcl::visualization::PCLVisualizer& viewer, const Eigen::Affine3f&原创 2021-09-19 19:36:57 · 539 阅读 · 0 评论 -
PCL学习笔记(21)——crophull
源码#include <pcl/visualization/cloud_viewer.h>#include <iostream>#include <pcl/io/io.h>#include <pcl/io/pcd_io.h>#include <vector>#include <pcl/point_cloud.h>#include <pcl/point_types.h>#include <pcl/io/p原创 2021-09-19 18:48:17 · 511 阅读 · 0 评论 -
PCL学习笔记(20)——remove_outliers
源码#include <iostream>#include <pcl/point_types.h>#include <pcl/filters/radius_outlier_removal.h>#include <pcl/filters/conditional_removal.h>#include <pcl/visualization/pcl_visualizer.h>int main (int argc, char** argv){原创 2021-09-19 16:48:51 · 687 阅读 · 3 评论 -
PCL学习笔记(19)——extract_indices
源码#include <iostream>#include <pcl/ModelCoefficients.h>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/sample_consensus/method_types.h>#include <pcl/sample_consensus/model_types.h>#include <原创 2021-09-19 16:07:17 · 693 阅读 · 0 评论 -
PCL学习笔记(18)——projectInliers
源码#include <iostream>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/ModelCoefficients.h>#include <pcl/filters/project_inliers.h>#include <pcl/visualization/pcl_visualizer.h>int main (int argc原创 2021-09-19 14:31:55 · 686 阅读 · 0 评论 -
PCL学习笔记(17)——统计滤波方法
源码#include <iostream>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/filters/statistical_outlier_removal.h>#include <pcl/visualization/pcl_visualizer.h>boost::shared_ptr<pcl::visualization::PCLVis原创 2021-09-18 18:36:09 · 794 阅读 · 0 评论 -
PCL学习笔记(16)——体素网格滤波VoxelGrid
源码#include <iostream>#include <pcl/io/pcd_io.h>#include <pcl/point_types.h>#include <pcl/filters/voxel_grid.h>#include <pcl/visualization/pcl_visualizer.h>boost::shared_ptr<pcl::visualization::PCLVisualizer> simpl原创 2021-09-18 15:29:37 · 585 阅读 · 0 评论 -
PCL学习笔记(15)——滤波PassThrough
源码#include <iostream>#include <ctime>#include <pcl/point_types.h>#include <pcl/filters/passthrough.h>int main (int argc, char** argv){ srand(time(0)); pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<原创 2021-09-18 13:39:16 · 270 阅读 · 0 评论 -
PCL学习笔记(14)——FPFH
源码/* \author Kripasindhu Sarkar */#include<pcl/visualization/pcl_plotter.h>#include <pcl/io/pcd_io.h>#include <pcl/filters/filter.h>#include <pcl/filters/voxel_grid.h>#include <pcl/console/parse.h>#include <pcl/kdtr原创 2021-09-18 11:17:23 · 377 阅读 · 0 评论 -
PCL学习笔记(13)——visualizer可视化
源码/* \author Geoffrey Biggs */#include <iostream>#include <boost/thread/thread.hpp>#include <pcl/common/common_headers.h>#include <pcl/common/common_headers.h>#include <pcl/features/normal_3d.h>#include <pcl/io/pcd_原创 2021-09-18 09:59:48 · 367 阅读 · 0 评论 -
PCL学习笔记(12)——点云深度图显示RangeImageVisualizer
源码#include <iostream>#include <boost/thread/thread.hpp>#include <pcl/common/common_headers.h>#include <pcl/common/common_headers.h>#include <pcl/range_image/range_image.h>#include <pcl/io/pcd_io.h>#include <pcl原创 2021-09-18 08:35:06 · 694 阅读 · 0 评论 -
PCL学习笔记(11)——点云可视化cloudviewer
源码#include <pcl/visualization/cloud_viewer.h>#include <iostream>#include <pcl/io/io.h>#include <pcl/io/pcd_io.h> int user_data;void viewerOneOff (pcl::visualization::PCLVisualizer& viewer){ viewer.setBackgroundCol原创 2021-09-17 14:11:17 · 348 阅读 · 0 评论 -
PCL学习笔记(10)——无序点云数据集的空间变化检测
源码#include <pcl/point_cloud.h>#include <pcl/octree/octree.h>#include <iostream>#include <vector>#include <ctime> int main (int argc, char**argv){ srand ((unsigned int) time (NULL)); // 八叉树分辨率 即体素的大小 float resolution原创 2021-09-17 13:50:27 · 330 阅读 · 0 评论 -
PCL学习笔记(9)——点云数据近邻搜索
源码#include <pcl/point_cloud.h>#include <pcl/octree/octree.h>#include <iostream>#include <vector>#include <ctime>int main (int argc, char**argv){ srand ((unsigned int) time (NULL)); pcl::PointCloud<pcl::PointXYZ>原创 2021-09-17 11:29:59 · 601 阅读 · 0 评论 -
PCL学习笔记(8)——点云数据的解压缩
源码#include <pcl/point_cloud.h>#include <pcl/point_types.h>#include <pcl/io/openni2_grabber.h>#include <pcl/visualization/cloud_viewer.h>#include <pcl/compression/octree_pointcloud_compression.h>#include <stdio.h>#原创 2021-09-17 11:14:26 · 485 阅读 · 1 评论