【PCL】教程alignment_prerejective.cpp 刚性物体的鲁棒位姿估计

The viewer window provides interactive commands; for help, press 'h' or 'H' from within the window.
> Loading V:\learn\PCL\pcl\examples\test\chef.pcd [PCLVisualizer::setUseVbos] Has no effect when OpenGL version is 鈮?2
[done, 327.147 ms : 5092 points]
Available dimensions: x y z normal_x normal_y normal_z

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> Loading V:\learn\PCL\pcl\examples\test\rs1.pcd [PCLVisualizer::setUseVbos] Has no effect when OpenGL version is 鈮?2
[done, 376.229 ms : 289541 points]
Available dimensions: x y z

chef.pcd
rs1.pcd
> Loading point clouds...
Failed to find match for field 'curvature'.
Failed to find match for field 'normal_x'.
Failed to find match for field 'normal_y'.
Failed to find match for field 'normal_z'.
Failed to find match for field 'curvature'.
> Downsampling...
> Estimating scene normals...
> Estimating features...
> Starting alignment...
Alignment took 426.567ms.


    |  0.089 -0.994 -0.064 |
R = | -0.996 -0.088 -0.016 |
    |  0.010  0.065 -0.998 |


t = < -0.097, 0.042, 0.068 >


Inliers: 1443/3432

前言

在本教程中，我们将展示如何在具有杂乱和遮挡的场景中找到刚性对象的对齐姿势（alignment pose of a rigid object）。

首先，下载测试模型：object （https://pcl.readthedocs.io/projects/tutorials/en/latest/_downloads/da6e6b8fbf78b559884f14174ad67c01/chef.pcd ）和 scene（https://pcl.readthedocs.io/projects/tutorials/en/latest/_downloads/eb5b16fe36d0ec907bd4c65335af7cb7/rs1.pcd） 。

源码解析

这段代码是使用PCL库（点云库）和Eigen库来实现将一个刚性物体与一个包含杂乱无章和遮挡物的场景进行对齐的功能。下面是代码的详细解释和功能总结：

头文件引用：代码引用了Eigen库和PCL库的多个头文件，这些头文件为点云处理提供了基础结构、特征估计、过滤器、输入输出操作、注册方法和可视化工具。

类型定义：定义了多个别名，以简化代码中对特定类型的引用。包括点云、特