直线生成以及pcl直线拟合
目录
- 写在前面
- code
-
- compile&run
- result
- 参考
写在前面
1、本文内容
pcl直线拟合，生成带噪声的直线并进行直线拟合的demo
2、平台
windows, pcl1.10.0
3、转载请注明出处：
https://blog.csdn.net/qq_41102371/article/details/127147223
code
line_seg.cpp
#include (cloud_parameter_line1, "cloud_parameter_line1");
//viewer->setPointCloudRenderingProperties(
// pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 5, "cloud_parameter_line1");
//viewer->setPointCloudRenderingProperties(
// pcl::visualization::PCL_VISUALIZER_COLOR, 1.0, 0.5, 0.5, "cloud_parameter_line1");
// viewer->addLine(*coefficients1, "line1");
while (!viewer->wasStopped()) {
viewer->spinOnce(100);
std::this_thread::sleep_for(100ms);
}
}
void
demo()
{
// line parameters
double x0 = -2, y0 = -2, z0 = 0, a = 1, b = 1, c = 0;
auto line_pcd_create = create_line(x0, y0, z0, a, b, c);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_noise(new pcl::PointCloud<pcl::PointXYZ>);
std::size_t noise_points_size = line_pcd_create->points.size() / 10;
cloud_noise->width = noise_points_size;
cloud_noise->height = 1;
cloud_noise->points.resize(cloud_noise->width * cloud_noise->height);
// add noise
for (std::size_t i = 0; i < noise_points_size; ++i) {
int random_num = line_pcd_create->points.size() * rand() / (RAND_MAX + 1.0f);
cloud_noise->points[i].x =
line_pcd_create->points[random_num].x + 10 * rand() / (RAND_MAX + 1.0f) - 5;
cloud_noise->points[i].y =
line_pcd_create->points[random_num].y + 10 * rand() / (RAND_MAX + 1.0f) - 5;
cloud_noise->points[i].z =
line_pcd_create->points[random_num].z + 10 * rand() / (RAND_MAX + 1.0f) - 5;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr line_with_noise(
new pcl::PointCloud<pcl::PointXYZ>);
*line_with_noise = *cloud_noise + *line_pcd_create;
//pcl::visualization::PCLVisualizer::Ptr viewer;
//viewer = simpleVis(line_with_noise);
//while (!viewer->wasStopped()) {
// viewer->spinOnce(100);
// std::this_thread::sleep_for(100ms);
//}
fit_line(line_with_noise, 1);
}
int
main(int argc, char* argv[])
{
if (argc < 3) {
std::cout << "please input parametars:\nfilepath\ndistance_threshold" << std::endl;
demo();
return -1;
}
std::string file_path = argv[1];
double distance_threshold = atof(argv[2]);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
if (pcl::io::loadPLYFile(file_path, *cloud) < 0) {
std::cout << "can not read file " << file_path << std::endl;
return -1;
}
std::cout << "point size: " << cloud->points.size() << std::endl;
fit_line(cloud, distance_threshold);
return 0;
}
CmakeLists.txt
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(line_fit)
find_package(PCL 1.2 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable (line_seg line_seg.cpp)
target_link_libraries (line_seg ${PCL_LIBRARIES})
compile&run
cmake -DCMAKE_BUILD_TYPE=Release -DPCL_DIR="YOUR_PATH/PCL 1.10.0/cmake" -S ./ -B ./build
cmake --build ./build --config Release --target ALL_BUILD
.\build\Release\line_seg.exe
result
参考
https://blog.csdn.net/qq_39506862/article/details/124274222
https://blog.csdn.net/qq_36686437/article/details/114171317
https://blog.csdn.net/qq_41102371/article/details/121482141
https://pcl.readthedocs.io/projects/tutorials/en/pcl-1.11.0/random_sample_consensus.html