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,point_on_line.z,line_direction.x,line_direction.y,line_direction.z...
SACMODEL_PARALLEL_LINE - a model for determining a lineparallelwith a given axis, within a maximum specified angular deviation. The line coefficients are similar to SACMODEL_LINE . SACMODEL_PERPENDICULAR_PLANE - a model for determining a planeperpendicularto an user-specified axis, within a maximum...
圆柱模型:SACMODEL_CYLINDER 圆锥模型:SACMODEL_CONE 圆环模型:SACMODEL_TORUS 平行于给定轴的一种线模型:SACMODEL_PARALLEL_LINE 垂直于指定轴的平面模型:SACMODEL_PERPENDICULAR_PLANE 三维棒分割模型:SACMODEL_STICK 此例我们使用平面模型: proj.setModelType(SACMODEL_PLANE); 随后,我们再对滤波器进行一些属性设置: proj...
1.4 平面点滤除 boolremove_plane(constpcl::PointCloud<PointXYZRGB>::Ptr &input_cloud,constEigen::Vector3f &axis,doubleplane_thickness)//移除平面 { pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients); //平面参数矩阵 pcl::PointIndices::Ptr...
SACMODEL_PERPENDICULAR_PLANE- a model for determining a planeperpendicularto an user-specified axis, within a maximum specified angular deviation. The plane coefficients are similar toSACMODEL_PLANE. SACMODEL_PARALLEL_LINES - not implemented yet
SACMODEL_PERPENDICULAR_PLANE - a model for determining a plane perpendicular to an user-specified axis, within a maximum specified angular deviation. The plane coefficients are similar to SACMODEL_PLANE . SACMODEL_PARALLEL_LINES - not implemented yet ...
(pcl::SACMODEL_PERPENDICULAR_PLANE);//设置模型类型为平面seg.setMethodType(pcl::SAC_RANSAC);//设置分割方法为RANSACseg.setMaxIterations(500);//设置最大迭代次数 seg.setAxis(axis); //设置分割轴 seg.setEpsAngle(0.25); //设置角度阈值seg.setDistanceThreshold(plane_thickness);//设置距离阈值 0.025 ...
a model for determining a plane perpendicular to an user-specified axis, within a maximum specified angular deviation. The plane coefficients are similar to SACMODEL_PLANE. SampleConsensusModelPerpendicularPlane defines a model for 3D plane segmentation using additional angular constraints.The plane must ...
SACMODEL_PERPENDICULAR_PLANE - a model for determining a plane perpendicular to an user-specified axis, within a maximum specified angular deviation. The plane coefficients are similar to SACMODEL_PLANE . SACMODEL_PARALLEL_LINES - not implemented yet ...
1.1 直通滤波器 void pass_through_filter(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr &input_cloud) //直通滤波器 { std::cout << "start pass_through_filter" << std::endl; calc_sight_center(); //计算视点中心,视点中心为滤波器的输入参数 ...