SACMODEL_PLANE 平面模型,拟合出平面的Hessian Normal Form。计算的参数为[normal_x normal_y normal_z d]。 SACMODEL_LINE 直线模型,拟合出直线上的点和直线的方向向量。计算参数为[point_on_line.x point_on_line.y point_on_line.z line_direction.x line_direction.y line_direction.z] SACMODEL_CIRCLE2D...
(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_PLANE 模型 定义为平面模型,有4个参数normal_x 、normal_y 、normal_z(Hessian范式中的法向量坐标) 、d(常量);ax+by+cz+d=0。 分割出的内点就是 估计参数对应的平面上或平面距离在一定范围内。 SACMODEL_LINE 模型 定义为直线模型,有6个参数point_on...
setModelType (pcl::SACMODEL_NORMAL_PLANE); seg.setNormalDistanceWeight (0.1); seg.setMethodType (pcl::SAC_RANSAC); seg.setMaxIterations (100); seg.setDistanceThreshold (0.03); seg.setInputCloud (cloud_filtered); seg.setInputNormals (cloud_normals); //获取平面模型的系数和处在平面的内点 ...
ne.compute (*cloud_normals);//法线的计算结果存放至cloud_normals // Create the segmentation object for the planar model and set all the parameters seg.setOptimizeCoefficients (true);//选择是否优化系数 seg.setModelType (pcl::SACMODEL_NORMAL_PLANE); ...
seg.setModelType (pcl::SACMODEL_NORMAL_PLANE); seg.setNormalDistanceWeight (0.1); seg.setMethodType (pcl::SAC_RANSAC); seg.setMaxIterations (100); seg.setDistanceThreshold (0.03); seg.setInputCloud (cloud_filtered); seg.setInputNormals (cloud_normals);//获取平面模型的系数和处在平面的内点...
ne.compute (*cloud_normals);//Create the segmentation object for the planar model and set all the parametersseg.setOptimizeCoefficients (true); seg.setModelType (pcl::SACMODEL_NORMAL_PLANE); seg.setNormalDistanceWeight (0.1); seg.setMethodType (pcl::SAC_RANSAC); ...
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 ....
(1)SACMODEL_PLANE(三维平面) used to determine plane models. The four coefficients of the plane are itsHessian Normal form: [normal_x normal_y normal_z d] a : the X coordinate of the plane's normal (normalized) b : the Y coordinate of the plane's normal (normalized) ...
proj.setModelType(0) # 0表示SACMODEL_PLANE proj.setInputCloud(cloud) proj.setModelCoefficients(coeffs) proj.filter(cloud_projected) 1. 2. 3. 4. 5. 6. 其中setModelType()可选参数如下: 参考:SacModel 输出投影点并可视化 print('Cloud after projection:') ...