PCL中Sample_consensus分割支持的几何模型

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随机采样一致分割法，从点云中分割出线、面等几何元素

#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>

// Create the segmentation object
pcl::SACSegmentation<pcl::PointXYZ> seg;

// Optional
seg.setOptimizeCoefficients (true);

// Mandatory
seg.setModelType (pcl::SACMODEL_PLANE); //model: plane
seg.setMethodType (pcl::SAC_RANSAC);

(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)
  • c : the Z coordinate of the plane‘s normal (normalized)
  • d : the fourth Hessian component of the plane‘s equation

 SampleConsensusModelPerpendicularPlane<pcl::PointXYZ> model (cloud);
 model.setAxis (Eigen::Vector3f (0.0, 0.0, 1.0));
 model.setEpsAngle (pcl::deg2rad (15));

(11) SACMODEL_PARALLEL_LINES

• not implemented yet 

(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 to SACMODEL_PLANE. 
• SampleConsensusModelNormalPlane defines a model for 3D plane segmentation using additional surface normal constraints. 
• Basically this means that checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum angular deviation" between the plane‘s normal and the inlier points normals.

The model coefficients are defined as:

• • a : the X coordinate of the plane‘s normal (normalized)
  • b : the Y coordinate of the plane‘s normal (normalized)
  • c : the Z coordinate of the plane‘s normal (normalized)
  • d : the fourth Hessian component of the plane‘s equation 

To set the influence of the surface normals in the inlier estimation process, set the normal weight (0.0-1.0), e.g.:

 SampleConsensusModelNormalPlane<pcl::PointXYZ, pcl::Normal> sac_model;
 ...
 sac_model.setNormalDistanceWeight (0.1);
 ...

(13) SACMODEL_PARALLEL_PLANE

• a model for determining a plane parallel to an user-specified axis, within a maximim specified angular deviation. SACMODEL_PLANE. 

 SampleConsensusModelParallelPlane<pcl::PointXYZ> model (cloud);
 model.setAxis (Eigen::Vector3f (0.0, 0.0, 1.0));
 model.setEpsAngle (pcl::deg2rad (15));

(14) SACMODEL_NORMAL_PARALLEL_PLANE

• defines a model for 3D plane segmentation using additional surface normal constraints. The plane must lieparallel to a user-specified axis. SACMODEL_NORMAL_PARALLEL_PLANE therefore is equivallent to SACMODEL_NORMAL_PLANE + SACMODEL_PARALLEL_PLANE. The plane coefficients are similar toSACMODEL_PLANE. 
• SampleConsensusModelNormalParallelPlane defines a model for 3D plane segmentation using additional surface normal constraints. 
• Basically this means that checking for inliers will not only involve a "distance to model" criterion, but also an additional "maximum angular deviation" between the plane‘s normal and the inlier points normals. In addition, the plane normal must lie parallel to an user-specified axis.

The model coefficients are defined as:

• • a : the X coordinate of the plane‘s normal (normalized)
  • b : the Y coordinate of the plane‘s normal (normalized)
  • c : the Z coordinate of the plane‘s normal (normalized)
  • d : the fourth Hessian component of the plane‘s equation

To set the influence of the surface normals in the inlier estimation process, set the normal weight (0.0-1.0), e.g.:

 SampleConsensusModelNormalPlane<pcl::PointXYZ, pcl::Normal> sac_model;
 ...
 sac_model.setNormalDistanceWeight (0.1);
 ...

文章引用自 https://blog.csdn.net/sdau20104555/article/details/40649101

PCL中Sample_consensus分割支持的几何模型

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原文地址：https://www.cnblogs.com/gdut-gordon/p/8977942.html