ICCV2011-surface.pdf

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1、SurfaceReconstructionVincentRabaudNovember03,2011Outline1.Introduction2.PlaneDetectionProblemdefinitionPlaneestimationHullrefinementResults3.MovingleastsquaresProblemGistResults4.TriangulationMeshingResults5.SmoothingVTKsmootherPoisson6.ConclusionVincentRabaud/PCL::SurfaceReconstructionOutline1.Int

2、roduction2.PlaneDetectionProblemdefinitionPlaneestimationHullrefinementResults3.MovingleastsquaresProblemGistResults4.TriangulationMeshingResults5.SmoothingVTKsmootherPoisson6.ConclusionVincentRabaud/PCL::SurfaceReconstructionIntroductionWanted:surface/meshfromapointcloudWhy?ItheworldisnotsparseIfo

3、rbettergraphics/visualizationIfortexturemappingICADmodelsIcompressionVincentRabaud/PCL::SurfaceReconstructionIntroductionInrobotics:IobjectdetectionIobjectgraspingVincentRabaud/PCL::SurfaceReconstructionPlanedetectionWearegivenanoisypointcloudandwewanttofindthebestplaneVincentRabaud/PCL::SurfaceRe

4、constructionPlanedetection1//DefinetheRANSACobject2pcl::SACSegmentationseg;3//Defineitscoefficients4seg.setOptimizeCoefficients(true);5seg.setMethodType(pcl::SAC_RANSAC);6//Specifytheplaneparameters7seg.setModelType(pcl::SACMODEL_PLANE);8seg.setDistanceThreshold(0.01);9//Specifythe

5、input10seg.setInputCloud(cloud_filtered);11//Segment12pcl::ModelCoefficients::Ptrcoefficients(newpcl::ModelCoefficients);13pcl::PointIndices::Ptrinliers(newpcl::PointIndices);14seg.segment(*inliers,*coefficients);VincentRabaud/PCL::SurfaceReconstructionHullrefinement1//Createtheprojectionstructure

6、2pcl::ProjectInliersproj;3proj.setModelType(pcl::SACMODEL_PLANE);4proj.setInputCloud(cloud_filtered);5proj.setModelCoefficients(coefficients);6//Createtheprojectedpointcloud7pcl::PointCloud::Ptrcloud_projected(newpcl::PointCloud);8proj.filter(*cloud_pr

7、ojected);9//CreateaConvexHullrepresentationoftheprojectedinliers10pcl::PointCloud::Ptrcloud_hull(newpcl::PointCloud);11pcl::ConvexHullchull;12chull.setInputCloud(cloud_proje