pcl_tutorial.pdf

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PCL库各个模块功能及代码实现的教程PPT,里面每个模块都有相关的原理及部分代码实现,具有很高的参考价值,非常适合基于PCL库进行开发的相关人员。
University at Buffalo The State University of New YorkREACHING OTHERS Where do point clouds come from? RGB-D cameras Stereo cameras 3D laser scanners Time-of-flight cameras Sythetically from software (e. g. Blender) Jeff delmerico February 11, 2013 Introduction 3/38 University at Buffalo The State University of New YorkREACHING OTHERS Point Cloud Library PCL is a large scale, open project for 2D /3D image and point cloud processing(in C++, w/ new python bindings) The Pcl framework contains numerous state-of-the art algorithms including filtering, feature estimation, surface reconstruction, registration, model fitting and segmentation PCL is cross-platform, and has been successfully compiled and deployed on Linux, MacOS, Windows, and Android / iOS Website: pointclouds org alizatio keypoints octree ample c kate range Image tracking commo Jeff delmerico February 11, 2013 Introduction 4/38 University at Buffalo The State University of New YorkREACHING OTHERS Getting PCL First, download pCl for your system from http://pointclouds.org/downloads/ If you want to try the python bindings(currently for only a subset of the full PCL functionality) go here http://strawlab.github.com/python-pc1/0 PCL provides the 3D processing pipeline for ros, so you can also get the perception-pcl stack and still use pcl standalone PCL depends on Boost, Eigen, FLANN, and VTK Jeff delmerico February 11, 2013 Using PCL 5/38 University at Buffalo The State University of New YorkREACHING OTHERS Basic structures The basic data type in PCL is a Point cloud. a Point Cloud is a templated C++ class which contains the following data fields s width(int)-secifies the width of the point cloud dataset in the number of points the total number of points in the cloud(equal with the number of elements in points) for unorganized datasets the width(total number of points in a row of an organized point cloud dataset height(int)-Specifies the height of the point cloud datase the number of points set to l for unorganized point clouds the height (total number of rows ) of an organized point cloud dataset points(std: vector( PointT))-Contains the data array phere all the points of type point T are stored Jeff delmerico February 11, 2013 Using PCL 6/38 University at Buffalo The State University of New YorkREACHING OTHERS Basic structures is- dense(bool)-Specifies if all the data in points is finite true), or whether the XYz values of certain points might contain Inf/Nan values(false) sensor_origin_(Eigen: Vector4f)-Specifies the sensor acquisition pose(origin/translation). This member is usually optional, and not used by the majority of the algorithms in PCL sensor_orientation-(Eigen: Quaternionf)-Specifies the sensor acquisition pose(orientation). /This member is usually optional, and not used by the majority of the algorithms in PCL Jeff delmerico February 11, 2013 Using PCL 7/38 University at Buffalo The State University of New YorkREACHING OTHERS Point Types PointXYZ- float x, y, z PointXYZI-float x, y, z, intensity PointXYZRGB-float x, y, z, rgb PointXYZRGBA-float x, y, z, uint32-t rgba Normal -float normal[3, curvature Point Normal -float x, y, z, normal[3 ] ,curvature Histogram-float histogram N And many, many, more. Plus you can define new types to suit your needs Jeff delmerico February 11, 2013 Using PCL 8/38 University at Buffalo The State University of New YorkREACHING OTHERS Building PCL Projects PCL relies on CMake as a build tool. Cmake just requires that you place a file called CMake Lists. txt somewhere on your project path CMakeLists. txt cmake_minimum_required (VERSION 2.6 FATAL-ERROR) project(MY_GRAND_PROJECT find -package(PCL 1. 3 REQUIRED COMPONENTS common io) nclude_directories(SPCL_INCLUDE-DIRS link_directories(SPCLLIBRARY -DIRS) add -definitions(SPCL_DEFINITIONS add_executable(pcd_write_test pcd_write. cpp target_link_libraries(pcd -write-test SPCL_COMMON_LIBRARIES SPCL_IO-_LIBRARIES Jeff delmerico February 11, 2013 Using PCL 9/38 University at Buffalo The State University of New YorkREACHING OTHERS Building PCL Projects Generating the Makefile Building the Project s cd/PATH/TO/MY/GRAND/PROJECT s mkdir build S cd build S cmake S make Jeff delmerico February 11, 2013 Using PCL 10/38

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