虽然用pcl比较多,但是pcl运行比较慢,我很多时候还是喜欢用matlab做一个算法的验证;
项目主要是做一个物体的分割处理。
1.对物体做去噪处理
clc;
clear;
B=pcread('test(1).ply');
figure(1);
pcshow(B);
C=pcdenoise(B,'NumNeighbors',90,'Threshold',1);
figure(2);
pcshow(C);
效果如下:(主要就是一个基于最近邻+距离的去噪,类似pcl的统计滤波)
2.做一个roi提取
roi = [-inf,+inf;-inf,inf;-10,inf];
indices = findPointsInROI(C, roi);
ptCloudC = select(C,indices);
figure(3);
pcshow(ptCloudC);
roi1 = [-inf,-8;-inf,inf;-10,inf];
indices1 = findPointsInROI(ptCloudC, roi1);
ptCloudB = select(ptCloudC,indices1);
figure(4);
pcshow(ptCloudB);
3.想要得到上面的包,在做一个平面分割
maxDistance = 0.9;
referenceVector = [0,0,-1];
maxAngularDistance = 7;
[model1,inlierIndices,outlierIndices] = pcfitplane(ptCloudB,...
maxDistance,referenceVector,maxAngularDistance);
plane1 = select(ptCloudB,inlierIndices);
remainPtCloud = select(ptCloudB,outlierIndices);
figure
pcshow(plane1)
title('First Plane')
figure
pcshow(remainPtCloud)
title('remainPtCloud Plane')
4.再做roi+滤波
5.聚类
minDistance = 0.9;
[labels,numClusters] = pcsegdist(E,minDistance);
pcshow(E.Location,labels)
colormap(hsv(numClusters))
title('Point Cloud Clusters')
disp(" the number of an jian:")
disp(numClusters)
效果不是特别好,存在一些问题。先验证一下思路是可行的。
5.长宽高的提取
都在matlab 的文件家中。不想复制了。。。