这里我们来看求解PointToPlane ICP中的优化问题 (1)argminR,tJ=∑i=1n||niT(Rpi+t−qi)||2s.t.RTR=I,det(R)=1 迭代求解 很多代码实现(比如libpointmatcher)都是用迭代求解方式[1]。该求解方法的核心是将旋转矩阵R近似为: (2)R≈(1−γβγ1−α−βα1)将式(2)带入式(1),问题就变成了...
注意:这里的{p_i}指的是变换前的Source Points Cloud,算出的R和t即初始Source Points Cloud和Destination Points Cloud之间的旋转平移变换。 Point-to-Plane ICP 由于这里的距离计算中引入了法向量,因此上述Point-to-Point ICP的计算方式不再适用。这里通过假定旋转的三个欧拉角都很小,来将R矩阵进行近似的线性化操...
This paper describes PLICP, an ICP (iterative closest/corresponding point) variant that uses a point-to-line metric, and an exact closed-form for minimizing such metric. The resulting algorithm has some interesting properties: it converges quadratically, and in a finite number of steps. The met...
某绘图系统存在Point、Line、Square三种图元,它们具有Shape接口,图元的类图关系如图5-1所示。现要将Circle图元加入此绘图系统以实现功能扩充。已知某第三方库已经提供了XCircle类,且完全满足系统新增的Circle图元所需的功能,但XCircle不是由Shape派生而来,它提供的接口不能被系统直接使用。代码5-1既使用了XCircle又遵循...
Fixes an issue in which you can't publish new forms to sites with the CMSPUBLISHING template type. Fixes an issue in which multiline deletion doesn't work as expected when you edit a list in grid view. Fixes an issue in which you might ...
精配准的目的是在粗配准的基础上让点云之间的空间位置差别最小化。应用最为广泛的精配准算法应该是ICP以及ICP的各种变种(稳健ICP、point to plane ICP、Point to line ICP、MBICP、GICP、NICP)。 粗配准是指在点云相对位姿完全未知的情况下对点云进行配准,可以为精配准提供良好的初始值。当前较为普遍的点云自动...
默认情况下,网站页面库有 6 个隐藏的查找列, (AuthorByline、Author、编辑器、CheckoutUser、AppAuthor、AppEditor) 。 因此,客户能够配置 6 个额外的自定义查找列。 请注意,向网站页面库添加功能(如访问群体定位)可能会预配其他查阅列,因此可能会增加查阅列总数。 在这些情况下,请选择“选择站点”并配置当前...
This algorithm is demonstrated using the Perspective-n-Point (PnP) problem where lines form a bundle, and the Non-Perspective-n-Point (NPnP) problem where each line potentially has its own origin. We also prove that one existing NPnP solution is, in fact, equivalent to ICP, and that a ...
OpenNI apps: Improve handling of command line arguments [#5494] Improved manual registration [#5530] Improve pcl_openni_face_detector [#5669] Point Cloud Editor: fix select2D after switch to QOpenGLWidget [#5685] PCL Docs: Add tutorial for using VCPKG on Windows [#4814] [new feature] io...