From 9ce54d1f1a70cf379b5954ad4d8bed3210e06a4c Mon Sep 17 00:00:00 2001 From: maguangyan <1792659158@qq.com> Date: Sun, 10 Oct 2021 14:03:30 +0800 Subject: [PATCH] update README.md --- README.md | 129 +- data/template_alignment/object_template_0.pcd | 1408 +++++++++++++++ data/template_alignment/object_template_1.pcd | 1563 +++++++++++++++++ data/template_alignment/object_template_2.pcd | 1312 ++++++++++++++ data/template_alignment/object_template_3.pcd | 1460 +++++++++++++++ data/template_alignment/object_template_4.pcd | 1170 ++++++++++++ data/template_alignment/object_template_5.pcd | 1430 +++++++++++++++ data/template_alignment/object_templates.txt | 7 + data/template_alignment/person.pcd | Bin 0 -> 1045772 bytes .../14_Applications/01_template_alignment.py | 23 + tutorial/14_Applications/README.md | 18 + 11 files changed, 8518 insertions(+), 2 deletions(-) create mode 100644 data/template_alignment/object_template_0.pcd create mode 100644 data/template_alignment/object_template_1.pcd create mode 100644 data/template_alignment/object_template_2.pcd create mode 100644 data/template_alignment/object_template_3.pcd create mode 100644 data/template_alignment/object_template_4.pcd create mode 100644 data/template_alignment/object_template_5.pcd create mode 100644 data/template_alignment/object_templates.txt create mode 100644 data/template_alignment/person.pcd create mode 100644 tutorial/14_Applications/01_template_alignment.py create mode 100644 tutorial/14_Applications/README.md diff --git a/README.md b/README.md index 5b8f166..345dbc2 100644 --- a/README.md +++ b/README.md @@ -44,6 +44,131 @@ https://blog.csdn.net/weixin_44456692/article/details/114854873 * [Segmentation](./tutorial/11_Segmentation) * [Recognition（绑定不完全）](./tutorial/12_Recognition) * [Surface](./tutorial/13_Surface) -* Applications -* GPU +* [Applications](./tutorial/14_Applications) +* GPU（跳过） + +## 后记 + +--- + +2021.10.10日 记： + +历时一个月的时间，今天终于完成了这个仓库的第一个版本，因为时间仓促，这个教程还不完美，若有错误，恳请指正。 + +想起来，做这个pclpy教程也是心血来潮，因为九月十月开始了秋招，每天都在忙于投简历、面试，在这种情况下整个人都有些躁动，静不下心搞论文。于是为了转移注意力，让找工作的这两个月有点事做，这时候正好看到之前发的一个笔记[三维重建工具——pclpy使用教程](https://blog.csdn.net/weixin_44456692/article/details/115163270) 阅读和点赞量都比较高，而且有很多小伙伴在评论区问问题，我意识到了有很多学python的小伙伴可能对点云处理很感兴趣。于是，心血来潮，开始开干！就有了pclpy教程这个仓库。 + +简单总结一下在写这个教程过程中的一个体会。pclpy是点云库(PCL)的Python绑定，其使用pybind11绑定，我们可以直接使用c++，模板、boost::smart_ptr和缓冲区协议都比较容易实现。从使用角度来说呢，pclpy和PCL的写法很多地方几乎一致，这使得我们如果写PCL的经验，就会很容易上手pclpy。但是pclpy的缺点也很明显！！！毕竟PCL是一个庞大的算法库，使用pybind11绑定也是一个庞大的工作量，[pclpy](https://github.com/davidcaron/pclpy) 这个库正在积极开发中（作者原话），但是我看到最近作者的更新频率不是很高（最近一次是在2021.03.09），pclpy仓库中显示目前开发进度如下 + +开发中的模块 + +- 2d +- common +- geometry +- features +- filters +- io (meshes are not implemented) +- kdtree +- keypoints +- octree +- recognition +- sample_consensus +- search +- segmentation +- stereo +- surface +- tracking + +跳过的模块： + +- ml +- people +- outofcore +- registration +- visualization +- every module not in the PCL Windows release (gpu, cuda, etc.) + +但实际使用过程中，情况没有那么乐观，有很多类还未实现。 + +对已测试的功能中碰到的问题总结如下： + +* [I/O](./tutorial/01_IO) + +点云拼接 pcl::concatenateFields未绑定 + +* [KdTree](./tutorial/02_KdTree) +* [Octree](./tutorial/03_Octree) + +点云压缩pcl::compression::octree_pointcloud_compression类未绑定 + +* [Visualization](./tutorial/04_Visualization) + +runOnVisualizationThreadOnce()未绑定 + +可视化椭圆viewer.addSphere()报错：no override found for "VTKPolyDataMapper" + +可视化法线viewer.addPointCloudNormals(）报错：In..\Rendering\Core\vtkActor.cxx, line 43. Error: no override found for vtkactor + +可视化mesh报错：viewer.addPolygon() 这个作者提到过，还未绑定好 + +* [Filtering](./tutorial/05_Filtering) + +条件滤波ConditionalRemoval类未绑定。 + +* [Range Images（跳过）](./tutorial/06_RangeImages) + +RangeImage类未绑定 + +* [Keypoints（跳过）](./tutorial/07_Keypoints) + +keypoints模块未绑定 + +* [Sample Consensus](./tutorial/08_SampleConsensus) +* [Features](./tutorial/09_Features) + +pcl::MomentOfInertiaEstimation类存在bug，主要是getEigenValues()，getEigenVectors()，getMassCenter()这三个函数，使用numpy数组直接作为参数的函数似乎都有这个问题。 + +旋转投影统计特征pcl::ROPSEstimation类未绑定成功 + +GASD类、GRSD类未完成绑定。 + +* [Registration（跳过）](./tutorial/10_Registration) + +Registration模块未绑定 + +* [Segmentation](./tutorial/11_Segmentation) + +基于颜色的区域生长分割pcl::RegionGrowingRGB类未绑定 + +条件欧几里得聚类pcl::ConditionalEuclideanClustering类未绑定 + +基于法线差异的分割pcl::DifferenceOfNormalsEstimation类未绑定 + +将点云聚类为 Supervoxels的pcl::SupervoxelClustering类存在bug，getSupervoxelAdjacency()函数报错，应该也是未完全绑定。 + +使用 ModelOutlierRemoval 过滤点云中的pcl::model_outlier_removal类未绑定。 + +* [Recognition（绑定不完全）](./tutorial/12_Recognition) + +未绑定的类： + +> pcl::Correspondences +> +> pcl::Hough3DGrouping +> +> pcl::ism::ImplicitShapeModel +> +> pcl::Correspondences +> +> pcl::Hough3DGrouping +> +> ... + +* [Surface](./tutorial/13_Surface) + +B样条拟合算法pcl::on_nurbs未绑定。 + +* [Applications](./tutorial/14_Applications) +* GPU（跳过） + +总的来说，由于PCL绑定工作量比较大，pclpy目前只绑定了PCL部分功能，玩一玩儿可以，实际项目中作用不是很大，好好学PCL吧。 diff --git a/data/template_alignment/object_template_0.pcd b/data/template_alignment/object_template_0.pcd new file mode 100644 index 0000000..3247bcb --- /dev/null +++ b/data/template_alignment/object_template_0.pcd @@ -0,0 +1,1408 @@ +# .PCD v.7 - Point Cloud Data file format +VERSION .7 +FIELDS x y z _ +SIZE 4 4 4 1 +TYPE F F F U +COUNT 1 1 1 4 +WIDTH 1397 +HEIGHT 1 +VIEWPOINT 0 0 0 1 0 0 0 +POINTS 1397 +DATA ascii +-0.15265 0.0388 0.691 0 0 128 63 +-0.1474 0.03705 0.694 0 0 128 63 +-0.1564286 0.04258572 0.694 0 0 128 63 +-0.1523445 0.04148889 0.6937779 0 0 128 63 +-0.1498 0.0416 0.693 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b/data/template_alignment/object_template_1.pcd new file mode 100644 index 0000000..7248c4f --- /dev/null +++ b/data/template_alignment/object_template_1.pcd @@ -0,0 +1,1563 @@ +# .PCD v.7 - Point Cloud Data file format +VERSION .7 +FIELDS x y z _ +SIZE 4 4 4 1 +TYPE F F F U +COUNT 1 1 1 4 +WIDTH 1552 +HEIGHT 1 +VIEWPOINT 0 0 0 1 0 0 0 +POINTS 1552 +DATA ascii +-0.1995228 -0.01533489 0.7253433 0 0 128 63 +-0.1961273 -0.01572885 0.72299 0 0 128 63 +-0.1916628 -0.01671553 0.7198977 0 0 128 63 +-0.1888454 -0.01657374 0.7179431 0 0 128 63 +-0.2022932 -0.01054428 0.7272451 0 0 128 63 +-0.1993906 -0.01195103 0.7248573 0 0 128 63 +-0.1968457 -0.01227525 0.7222571 0 0 128 63 +-0.2033843 -0.006546435 0.727012 0 0 128 63 +-0.1993357 -0.007154713 0.7238617 0 0 128 63 +-0.1963443 -0.007481204 0.7222954 0 0 128 63 +-0.1784989 -0.00939828 0.7107379 0 0 128 63 +-0.1750257 -0.009962434 0.7073849 0 0 128 63 +-0.1723772 -0.009546146 0.7064928 0 0 128 63 +-0.2024979 -0.001883489 0.7273515 0 0 128 63 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0.13439 0.7511588 0 0 128 63 +-0.052129 0.1330698 0.7490751 0 0 128 63 +-0.05818179 0.1374687 0.7520379 0 0 128 63 +-0.05452845 0.1388254 0.7525411 0 0 128 63 +-0.07264584 0.1725711 0.7607085 0 0 128 63 +-0.07011315 0.1694909 0.7605873 0 0 128 63 +-0.07573536 0.1771476 0.7628324 0 0 128 63 +-0.07381734 0.176034 0.7623181 0 0 128 63 +-0.07368222 0.1795977 0.7662663 0 0 128 63 +-0.0522413 0.1395875 0.7539941 0 0 128 63 diff --git a/data/template_alignment/object_template_2.pcd b/data/template_alignment/object_template_2.pcd new file mode 100644 index 0000000..0d5252b --- /dev/null +++ b/data/template_alignment/object_template_2.pcd @@ -0,0 +1,1312 @@ +# .PCD v.7 - Point Cloud Data file format +VERSION .7 +FIELDS x y z _ +SIZE 4 4 4 1 +TYPE F F F U +COUNT 1 1 1 4 +WIDTH 1301 +HEIGHT 1 +VIEWPOINT 0 0 0 1 0 0 0 +POINTS 1301 +DATA ascii +-0.08654276 0.04055026 0.7172798 0 0 128 63 +-0.08490136 0.04101225 0.7184091 0 0 128 63 +-0.08418116 0.04290206 0.7187765 0 0 128 63 +-0.07794154 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b/data/template_alignment/object_template_3.pcd @@ -0,0 +1,1460 @@ +# .PCD v.7 - Point Cloud Data file format +VERSION .7 +FIELDS x y z _ +SIZE 4 4 4 1 +TYPE F F F U +COUNT 1 1 1 4 +WIDTH 1449 +HEIGHT 1 +VIEWPOINT 0 0 0 1 0 0 0 +POINTS 1449 +DATA ascii +-0.1661377 0.02825928 0.7135868 0 0 128 63 +-0.1672363 0.03112793 0.7142849 0 0 128 63 +-0.1689453 0.03604126 0.7168789 0 0 128 63 +-0.1707764 0.04104614 0.7183208 0 0 128 63 +-0.1729126 0.0475769 0.7204876 0 0 128 63 +-0.1720581 0.04501343 0.7190952 0 0 128 63 +-0.173584 0.05078125 0.7204456 0 0 128 63 +-0.1732788 0.05075073 0.7194233 0 0 128 63 +-0.1751709 0.05535889 0.7204189 0 0 128 63 +-0.177124 0.06176758 0.7253666 0 0 128 63 +-0.1773071 0.05990601 0.7227535 0 0 128 63 +-0.178894 0.06451416 0.7261066 0 0 128 63 +-0.1802368 0.06958008 0.7263432 0 0 128 63 +-0.1810913 0.07220459 0.7263241 0 0 128 63 +-0.1622925 0.02850342 0.7130871 0 0 128 63 +-0.1641235 0.03253174 0.7137012 0 0 128 63 +-0.1678467 0.03720093 0.7164593 0 0 128 63 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0.7209122 0 0 128 63 +-0.1827994 0.1108891 0.729822 0 0 128 63 +-0.1827267 0.04012801 0.7199413 0 0 128 63 +-0.1810425 0.04072924 0.7213067 0 0 128 63 +-0.1856535 0.0422878 0.7205406 0 0 128 63 +-0.1814946 0.042054 0.7212811 0 0 128 63 +-0.190902 0.1054868 0.7322423 0 0 128 63 +-0.1902902 0.1077499 0.732452 0 0 128 63 +-0.1970474 0.1025639 0.7326303 0 0 128 63 diff --git a/data/template_alignment/object_templates.txt b/data/template_alignment/object_templates.txt new file mode 100644 index 0000000..94ee46e --- /dev/null +++ b/data/template_alignment/object_templates.txt @@ -0,0 +1,7 @@ +# A list of point clouds to try aligning +./data/object_template_0.pcd +./data/object_template_1.pcd +./data/object_template_2.pcd +./data/object_template_3.pcd +./data/object_template_4.pcd +./data/object_template_5.pcd diff --git a/data/template_alignment/person.pcd b/data/template_alignment/person.pcd new file mode 100644 index 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+这个需要用到[FLANN](http://www.cs.ubc.ca/research/flann/) 暂时先跳过 + +# 使用 RGB-D 数据检测地平面上的人 + +pclpy中，尚未完people模块儿，故此例程暂无法完成。 +