大型点云场景,直接ICP会耗费很大的内存和时间,这里人工提取关键点,将关键点位移配准到关键点,即可得到旋转矩阵,然后作为大点云的旋转矩阵。 Open3d 关键点ICP,人工提点后的一个简单的ICP 前言 ICP算法有很多;Open3d自带的全局快速注册execute_fast_global_registration可以计算FPFH特征,快速对齐点云,这里不做介绍,当你...
defexecute_fast_global_registration(source_down, target_down, source_fpfh,target_fpfh, voxel_size):distance_threshold = voxel_size *0.5print(":: Apply fast global registration with distance threshold %.3f"\% distance_threshold)result = o3d.registration.registration_fast_based_on_feature_matching(s...
PreprocessPointCloud("../data/fragment1.ply", voxel_size); pipelines::registration::RegistrationResult registration_result = pipelines::registration:: FastGlobalRegistrationBasedOnFeatureMatching( *source_down, *target_down, *source_fpfh, *target_fpfh, pipelines::registration:: FastGlobalRegistrationOption...
#include<opencv2/opencv.hpp>#include<iostream>#include<Eigen/Dense>#include<iostream>#include<memory>#include"Open3D/Registration/GlobalOptimization.h"#include"Open3D/Registration/PoseGraph.h"#include"Open3D/Registration/ColoredICP.h"#include"Open3D/Open3D.h"#include"O...
o3d.pipelines.registration.FastGlobalRegistrationOption( maximum_correspondence_distance=distance_threshold)) return result result_fast = execute_fast_global_registration(source_down, target_down,source_fpfh, target_fpfh,voxel_size) print("快速全局配准花费了: %.3f 秒.\n" % (time.time() - start)...
openni_grabber registration open3d_colored_icp.py open3d_fast_global_registration.py open3d_global_registration.py open3d_icp.py pcl_icp.cpp pcl_template_matching.cpp sample_consensus segmentation trees CMakeLists.txt README.mdBreadcrumbs pointcloud_tutorial /registration / open3d_icp.py Latest...
FastGlobalRegistration.h"using namespace open3d;using namespace std;using namespace registration;using namespace geometry;using namespace cv;voidmain(){open3d::geometry::PointCloud source,target;open3d::io::ReadPointCloud("C:/Users/chili1080/Desktop/Augmented ICL-NUIM Dataset-jyx/livingroom1-...
.. literalinclude:: ../../../examples/Python/Advanced/fast_global_registration.py :language: python :lineno-start: 27 :lines: 27-29 :lineno-start: 29 :lines: 29-31 :linenos: For the pair comparison, the script reuses the ``prepare_dataset`` function defined in :ref:`global_registrati...
It is worth mentioning that, thanks to the inner ICP, the convergence threshold can be set reasonably large for BnB to converge fast. We organize our experimental results below according to their purposes. 7.1. Optimality The purpose of this first experiment is to verify the global optimality ...
Numerous local feature descriptors have been proposed, such as spin image (SI) [17], 3D shape context (3DSC) [18], fast point feature histograms (FPFH) [19], triple orthogonal local depth images (TOLDI) [20], and local voxelized structure (LoVS) [21]. These local feature descriptors ca...