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Ruan
80c5d18f9c
Add support for 3D point cloud segmentation, using the USAC framework.
* Modify the RANSAC framework in usac such that RANSAC can be used in 3D point cloud segmentation.
* 1. Add support for 3D point cloud segmentation, using the USAC framework.
2. Add solvers, error estimators for plane model and sphere model.
* Added code samples to the comments of class SACSegmentation.
* 1. Update the segment interface parameters of SACSegmentation.
2. Fix some errors in variable naming.
* Add tests for plane detection.
* 1. Add tests for sphere segmentation.
2. Fix some bugs found by tests.
3. Rename "segmentation" to "sac segmentation".
4. Rename "detect" to "segment".
TODO: Too much duplicate code, the structure of the test needs to be rebuilt.
* 1. Use SIMD acceleration for plane model and sphere model error estimation.
2. Optimize the RansacQualityImpl#getScore function to avoid multiple calls to the error#getError function.
3. Fix a warning in test_sac_segmentation.cpp.
* 1. Fix the warning of ModelConstraintFunction ambiguity.
2. Fix warning: no previous declaration for'void cv::usac::modelParamsToUsacConfig(cv::Ptr<cv::usac::SimpleUsacConfig>&, const cv::Ptr<const cv::usac::Model>& )
* Fix a warning in test_sac_segmentation.cpp about direct comparison of different types of data.
* Add code comments related to the interpretation of model coefficients.
* Update the use of custom model constraint functions.
* Simplified test code structure.
* Update the method of checking plane models.
* Delete test for cylinder.
* Add some comments about UniversalRANSAC.
* 1. The RANSAC paper in the code comments is referenced using the bibtex format.
2. The sample code in the code comments is replaced using @snippet.
3. Change the public API class SACSegmentation to interface.
4. Clean up the old useless code.
* fix warning(no previous declaration) in 3d_sac_segmentation.cpp.
* Fix compilation errors caused by 3d_sac_segmentation.cpp.
* Move the function sacModelMinimumSampleSize() from ptcloud.hpp to sac_segmentation.cpp.
* 1. Change the interface for setting the number of threads to the interface for setting whether to be parallel.
2. Move interface implementation code in ptcloud_utils.hpp to ptcloud_utils.cpp.
* SACSegmentation no longer inherits Algorithm.
* Add the constructor and destructor of SACSegmentation.
* 1. For the declaration of the common API, the prefix and suffix of the parameter names no longer contain underscores.
2. Rename the function _getMatFromInputArray -> getPointsMatFromInputArray.
3. Change part of CV_CheckDepth to CV_CheckDepthEQ.
4. Remove the doxygen flag from the source code.
5. Update the loop termination condition of SIMD in the point cloud section of 3D module.
* fix warning: passing 'bool' chooses 'int' over 'size_t {aka unsigned int}' .
* fix warning: passing 'bool' chooses 'int' over 'size_t {aka unsigned int}' .
90 lines
2.9 KiB
C++
90 lines
2.9 KiB
C++
/**
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* @file 3d_sac_segmentation.cpp
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* @brief It demonstrates the usage of cv::SACSegmentation.
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*
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* It shows how to implement 3D point cloud plane segmentation
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* using the RANSAC algorithm via cv::SACSegmentation, and
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* the construction of cv::SACSegmentation::ModelConstraintFunction
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*
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* @author Yechun Ruan
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* @date December 2021
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*/
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#include <opencv2/core.hpp>
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#include <opencv2/3d.hpp>
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bool customFunc(const std::vector<double> &model_coefficients);
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void usageExampleSacModelConstraintFunction();
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int planeSegmentationUsingRANSAC(const cv::Mat &pt_cloud,
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std::vector<cv::Vec4d> &planes_coeffs, std::vector<char> &labels);
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//! [usageExampleSacModelConstraintFunction]
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bool customFunc(const std::vector<double> &model_coefficients)
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{
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// check model_coefficients
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// The plane needs to pass through the origin, i.e. ax+by+cz+d=0 --> d==0
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return model_coefficients[3] == 0;
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} // end of function customFunc()
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void usageExampleSacModelConstraintFunction()
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{
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using namespace cv;
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SACSegmentation::ModelConstraintFunction func_example1 = customFunc;
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SACSegmentation::ModelConstraintFunction func_example2 =
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[](const std::vector<double> &model_coefficients) {
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// check model_coefficients
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// The plane needs to pass through the origin, i.e. ax+by+cz+d=0 --> d==0
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return model_coefficients[3] == 0;
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};
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// Using local variables
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float x0 = 0.0, y0 = 0.0, z0 = 0.0;
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SACSegmentation::ModelConstraintFunction func_example3 =
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[x0, y0, z0](const std::vector<double> &model_coeffs) -> bool {
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// check model_coefficients
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// The plane needs to pass through the point (x0, y0, z0), i.e. ax0+by0+cz0+d == 0
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return model_coeffs[0] * x0 + model_coeffs[1] * y0 + model_coeffs[2] * z0
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+ model_coeffs[3] == 0;
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};
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// Next, use the constructed SACSegmentation::ModelConstraintFunction func_example1, 2, 3 ......
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}
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//! [usageExampleSacModelConstraintFunction]
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//! [planeSegmentationUsingRANSAC]
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int planeSegmentationUsingRANSAC(const cv::Mat &pt_cloud,
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std::vector<cv::Vec4d> &planes_coeffs, std::vector<char> &labels)
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{
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using namespace cv;
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Ptr<SACSegmentation> sacSegmentation =
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SACSegmentation::create(SAC_MODEL_PLANE, SAC_METHOD_RANSAC);
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sacSegmentation->setDistanceThreshold(0.21);
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// The maximum number of iterations to attempt.(default 1000)
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sacSegmentation->setMaxIterations(1500);
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sacSegmentation->setNumberOfModelsExpected(2);
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Mat planes_coeffs_mat;
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// Number of final resultant models obtained by segmentation.
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int model_cnt = sacSegmentation->segment(pt_cloud,
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labels, planes_coeffs_mat);
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planes_coeffs.clear();
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for (int i = 0; i < model_cnt; ++i)
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{
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planes_coeffs.push_back(planes_coeffs_mat.row(i));
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}
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return model_cnt;
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}
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//! [planeSegmentationUsingRANSAC]
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int main()
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{
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} |