Octree in PCL

  building spatial index has been widely used in point cloud data processing. The common spatial index is generally various spatial index structures that divide space from self-determined to lower levels. The more representative ones include BSP tree, KD tree, KDB tree, R tree, R + tree, CELL tree, quadtree and octree, while KD tree an ...

Posted on Thu, 25 Nov 2021 17:14:50 -0500 by mrgrinch12

PCL tutorial - Statistical outlierremoval filter for Point Cloud Filtering

Original link: Removing outliers using a StatisticalOutlierRemoval filter Point cloud data: table_scene_lms400.pcd This section will learn how to use statistical analysis techniques to remove measurement noise points (i.e. outliers) from a point cloud dataset. background knowledge Laser scanning usually produces point cloud data sets wi ...

Posted on Sat, 20 Nov 2021 09:57:58 -0500 by DfyAnt

PCL - ICP code study (IV) - getfitnesscore function

preface Continue PCL - ICP code reading (III) - Registration initialization , this article mainly introduces the getfitnesscore function of the Registration category. This function is used to calculate the mse (mean squared error) between source and target. PCL provides two versions of getfitnesscore, which are applicable to two vectors or ...

Posted on Sun, 03 Oct 2021 20:09:02 -0400 by Tonsil

PCL -- preprocessing (filtering)

Point Cloud Filtering wave filtering When acquiring point cloud data, due to the impact of equipment accuracy, operator experience, environmental factors and other factors, some noise points (that is, points we can't use) are inevitable in point cloud data. We need to remove these points when proces ...

Posted on Sat, 13 Jun 2020 04:14:43 -0400 by jeremuck

3D reconstruction: PCL Point Cloud Filtering

The reconstructed point cloud obtained by binocular stereo vision usually has more noise points. The main reason for this phenomenon is that the error of algorithm matching point leads to the error of disparity calculation. SGBM algorithm is good in traditional binocular stereo vision, but it still has ...

Posted on Fri, 21 Feb 2020 03:56:34 -0500 by didgydont

Technology sharing | some MySQL DBA practical SQL statements

Author: Du Kaisheng Contents: 1, Connection related 2, Long affairs 3, Metadata lock 4, Lock wait 5, Global read lock 6, Memory usage monitoring 7, Partition table 8, Database information overview 9, Tables not updated for a long time 10, Primary key, index 11, Storage engine 12, Real time load Reading tips: 1) This article involves a lar ...

Posted on Wed, 15 Jan 2020 04:10:52 -0500 by johnsonzhang

The construction of PCL and MFC (VS2013+1.8.0PCL) is super detailed!!!

Recently, point cloud data processing needs to be used, so PCL point cloud library needs to be installed, which has been struggling for a long time. Due to various reasons such as test delay, etc., it has not been configured successfully for a long time. Only 1.9.1 PCL is configured on VS2017, and conso ...

Posted on Mon, 13 Jan 2020 06:35:09 -0500 by hnissani

PCL uses RANSAC to fit segmentation plane by itself

Using PCL segmentation algorithm  pcl::SACSegmentation<pcl::PointXYZ> seg; , do not use the normal parameters, only get the segmentation patch according to the model parameters, which is far from the imagined patch, 1 pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients ()); 2 pcl::PointIndices::Ptr inliers (new ...

Posted on Fri, 29 Nov 2019 16:31:16 -0500 by Joopy

PCL reads data from PCD file

1.pcd file -- rabbit.pcd Links: https://pan.baidu.com/s/1v6mjPjwd7fIqUSjlIGTIGQ Extraction code: zspx New project pcl rabbit.pcd and pcl.cpp are in the same directory   2. Read file (1) display data #include<iostream> #include<pcl/io/pcd_io.h> #include<pcl/point_types.h> int main(int argc, char** argv) {  //A p ...

Posted on Sat, 02 Nov 2019 14:12:44 -0400 by groovything

Classes and multithreading

Classes and multithreading In the project, a client is needed to communicate with lidar. The main function of the client is to receive the original byte stream sent by the radar and parse it into pcl::PointXYZ type three-dimensional coordinate points which can be directly processed by pcl. The specif ...

Posted on Fri, 18 Oct 2019 16:03:23 -0400 by Chrysanthus