SACMODEL_PARALLEL_PLANE 拟合出和给定轴平行的平面,计算参数和line相同。 SACMODEL_NORMAL_PARALLEL_PLANE 拟合一个平面,其约束条件为 SACMODEL_NORMAL_PLANE + SACMODEL_PERPENDICULAR_PLANE。 SACMODEL_STICK 棒状模型。拟合出棒状物体中轴上的一个点,方向向量以及宽度。计算参数为[point_on_line.x,point_on_line.y,...
SACMODEL_NORMAL_PLANE - a model for determining plane models using an additional constraint: the surface normals at each inlier point has to be parallel to the surface normal of the output plane, within a maximum specified angular deviation. The plane coefficients are similar to SACMODEL_PLANE ....
在使用pcl提取点云空间中的平面时,我们一般采用SACMODEL_PLANE模型,利用采样一致性算法(RANSAC)算法进行提取。当环境比较复杂时,我们可以采用SACMODEL_NORMAL_PARALLEL_PLANE模型约束平面的法向方向,更加准确的分割出平面点云。 封装后的函数 参数:(输入点云,法线法向,提取的平面点云,滤掉的点云,平面参数,点到模型的最...
SACMODEL_PARALLEL_LINES - not implemented yet SACMODEL_NORMAL_PLANE- a model for determining plane models using an additional constraint: the surface normals at each inlier point has to be parallel to the surface normal of the output plane, within a maximum specified angular deviation. The plane ...
SACMODEL_NORMAL_PLANE- a model for determining plane models using an additional constraint: the surface normals at each inlier point has to be parallel to the surface normal of the output plane, within a maximum specified angular deviation. The plane coefficients are similar toSACMODEL_PLANE. ...
(12)SACMODEL_NORMAL_PLANE a model for determining plane models using an additional constraint: the surface normals at each inlier point has to be parallel to the surface normal of the output plane, within a maximum specified angular deviation. The plane coefficients are similar toSACMODEL_PLANE....
SACMODEL_NORMAL_PLANE - a model for determining plane models using an additional constraint: the surface normals at each inlier point has to be parallel to the surface normal of the output plane, within a maximum specified angular deviation. The plane coefficients are similar to SACMODEL_PLANE ....
(用户给定的参数),model为指定的模型类型参数,本章节中涉及的模型类型如下:/*SACMODEL_PLANE模型:定义为平面模型,共设置4个参数[ normal_x, normal_y, normal_z d],其中(normal_x, normal_y, normal_z)为Hessian 范式中法向量的坐标及常量d值,ax+by+cz+d=0,从点云中分割提取的内点都处在估计参数对应的...
SACMODEL_PARALLEL_PLANE- a model for determining a planeparallelto an user-specified axis, within a maximum specified angular deviation.SACMODEL_PLANE. SACMODEL_NORMAL_PARALLEL_PLANEdefines a model for 3D plane segmentation using additional surface normal constraints. The plane must lieparallelto a user...
normal_parallel_plane 有条件限制的平面模型,法线约束下,三维平面模型必须与非定轴线平行 8 点云特征描述与提取 8.1 normal estimate pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>); pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne; ...