【PCL】教程global_hypothesis_verification 通过验证模型假设来实现 3D 对象识别与位姿估计...

测试程序1

milk.pcd milk_cartoon_all_small_clorox.pcd

终端输出1：

Model total points: 12575; Selected Keypoints: 193
Scene total points: 307200; Selected Keypoints: 7739
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 2034
[pcl::SHOTEstimation::createBinDistanceShape] Point 3952 has 1 (7.692307%) NaN normals in its neighbourhood
[pcl::SHOTEstimation::createBinDistanceShape] Point 4625 has 1 (5.263158%) NaN normals in its neighbourhood
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 797
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 238
[pcl::SHOTEstimation::createBinDistanceShape] Point 806 has 1 (4.761905%) NaN normals in its neighbourhood
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3509
[pcl::SHOTEstimation::createBinDistanceShape] Point 4685 has 1 (2.857143%) NaN normals in its neighbourhood
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 1593
[pcl::SHOTEstimation::createBinDistanceShape] Point 4686 has 1 (2.941176%) NaN normals in its neighbourhood
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 1605
[pcl::SHOTEstimation::createBinDistanceShape] Point 3099 has 1 (2.500000%) NaN normals in its neighbourhood
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3116
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 2097
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3577
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3629
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 2463
Correspondences found: 3394
Recognized Instances: 1


--- ICP ---------
Instance 0 Aligned!
-----------------


--- Hypotheses Verification ---
Occlusion cloud not set, using scene_cloud instead...
Computing cues took 1.4674ms.
Computing clutter cues took 2.948ms.
SA search... took 11.7504ms.
Instance 0 is bad!
-------------------------------

测试程序2

milk.pcd milk_cartoon_all_small_clorox.pcd --cg_size 0.035

终端输出2：

Model total points: 12575; Selected Keypoints: 193
Scene total points: 307200; Selected Keypoints: 7739
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 2034
[pcl::SHOTEstimation::createBinDistanceShape] Point 3952 has 1 (7.692307%) NaN normals in its neighbourhood
[pcl::SHOTEstimation::createBinDistanceShape] Point 4625 has 1 (5.263158%) NaN normals in its neighbourhood
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 797
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 238
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 2097
[pcl::SHOTEstimation::createBinDistanceShape] Point 3099 has 1 (2.500000%) NaN normals in its neighbourhood
[pcl::SHOTEstimation::createBinDistanceShape] Point 806 has 1 (4.761905%) NaN normals in its neighbourhood
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 1593
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3509
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3116
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3577
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 1605
[pcl::SHOTEstimation::createBinDistanceShape] Point 4685 has 1 (2.857143%) NaN normals in its neighbourhood
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 3629
[pcl::SHOTEstimation::createBinDistanceShape] Point 4686 has 1 (2.941176%) NaN normals in its neighbourhood
[pcl::SHOTEstimation::computeFeature] The local reference frame is not valid! Aborting description of point with index 2463
Correspondences found: 3394
Recognized Instances: 12


--- ICP ---------
Instance 0 Aligned!
Instance 1 Aligned!
Instance 2 Aligned!
Instance 3 Aligned!
Instance 4 Aligned!
Instance 5 Aligned!
Instance 6 Aligned!
Instance 7 Aligned!
Instance 8 Aligned!
Instance 9 Aligned!
Instance 10 Aligned!
Instance 11 Aligned!
-----------------


--- Hypotheses Verification ---
Occlusion cloud not set, using scene_cloud instead...
Computing cues took 53.9605ms.
Computing clutter cues took 3.4176ms.
SA search... took 36.8681ms.
Instance 0 is bad!
Instance 1 is bad!
Instance 2 is bad!
Instance 3 is bad!
Instance 4 is bad!
Instance 5 is bad!
Instance 6 is bad!
Instance 7 is bad!
Instance 8 is bad!
Instance 9 is bad!
Instance 10 is bad!
Instance 11 is bad!
-------------------------------

源码解析

这段代码是一个使用PCL（Point Cloud Library，点云库ÿ