激光点云电力线提取

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于 2025-02-14 19:30:00 发布 · 404 阅读

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#算法

实现原理比较简单，利用线性特征值来筛选电力线点云。

		std::shared_ptr<PointCloud> PointCloud::PowerLineSegmentation(double threshold, double scale, double radius)
		{
			Eigen::Vector3d max = GetMaxBound();
			Eigen::Vector3d min = GetMinBound();

			double ratio = (max.z() - min.z()) / scale + min.z();

			PointCloud newPcd;
#pragma omp parallel for schedule(static)
			for (int i = 0; i < (int)m_points.size(); ++i)
			{
				if (m_points[i].z() > ratio)
				{
#pragma omp critical
					{
						newPcd.m_points.push_back(m_points[i]);
						newPcd.m_colors.push_back(m_colors[i]);
					}
				}
			}

			KdTree kdtree;
			kdtree.SetGeometry(newPcd);
			Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> es;

			std::vector<double> linear(newPcd.m_points.size());

#pragma omp parallel for
			for (int i = 0; i < (int)newPcd.m_points.size(); ++i)
			{
				std::vector<int> indices;
				std::vector<double> distance2;
				kdtree.Sear