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PCL

2016-03-24 10:37:42   0  举报

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点云操作PCL库的总结

点云

模版推荐

作者其他创作

大纲/内容

filter

sample_consensus

pcl/sample_consensus/sac_model_sphere.h

pcl/sample_consensus/sac_model_plane.h

pcl/sample_consensus/ransac.h

downsample

remove noisy measurements

pcl/filters/statistical_outlier_removal.h

registration

ICP

pcl/registration/icp.h

pcl/registration/transformation_estimation_svd_scale.h

icp.setTransformationEstimation

在进行迭代的时候,会根据需要进行矩阵的等比缩放

I/O

pcl/io/ply_io.h

pcl/io/obj_io.h

pcl/io/pcd_io.h

pcl/io/vtk_lib_io.h

loadPolygonFile

load polygon mesh

pcl/io/auto_io.h

load

save

pcl/conversions.h

pcl::fromPCLPointCloud2(mesh.cloud, *cloud)

pcl::toPCLPointCloud2

convert mesh.cloud and pointCloud

当pointCloud个数发生变化时,toPCLPointCloud2会导致mesh的结构发生变化

surface

http://www.pointclouds.org/assets/icra2012/surface.pdf

greedy triangulation algorithm

pcl/surface/organized_fast_mesh.h

pcl/surface/convex_hull.h

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