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将点云数据统一到一个世界坐标系的过程称之为点云配准或者点云拼接。#xff08;registration/align#xff09;
点云配准的过程其实就是找到同名点对#xff1b;即找到在点云中处在真实世界同一位置的点。
常见的点云配准算法: ICP、Color ICP、Trimed-ICP 算法…点云配准
将点云数据统一到一个世界坐标系的过程称之为点云配准或者点云拼接。registration/align
点云配准的过程其实就是找到同名点对即找到在点云中处在真实世界同一位置的点。
常见的点云配准算法: ICP、Color ICP、Trimed-ICP 算法流程:
选点: 确定参与到配准过程中的点集。匹配确定同名点对 ICP以两片点云中欧式空间距离最小的点对为同名点非线性优化求解 采用SVD或者四元数求解变换变换 将求解的变换参数应用到待配准点云上迭代 计算此时的状态参数判断配准是否完成。以前后两次参数迭代变 化的差或者RMSE值是否小于给定阈值为迭代终止条件。否则返回(1)
ICP 算法以两片点云中欧式空间距离最小的点对为同名点如果初始点选择不合适可能会陷入局部最优配准失败。
基于点特征的配准方法 两种方式 一种通过特征描述先分割出场景里的点线等特征利用这些点进行同名点的匹配如基于几何空间一致性筛选同名点对。 一种通过点特征描述符确定同名点如基于FPFH双向最近邻确定同名点对FPFH描述向量最大的特性是对于点云的同名点的特征向量表现出相似性即该点云的同名点之间的FPFH特征描述子的二范数趋于零。
测试用例
基于icp的点云匹配参考
点到点的配准
import open3d as o3d
import numpy as np# 获取示例数据
source_cloud o3d.io.read_point_cloud(./data/cloud_bin_0.pcd)
target_cloud o3d.io.read_point_cloud(./data/cloud_bin_1.pcd)
source_cloud.paint_uniform_color([1, 0.706, 0])
target_cloud.paint_uniform_color([0, 0.651, 0.929])
threshold 0.02# RMSE残差阈值小于该残差阈值迭代终止#初始位姿
trans_init np.asarray([[0.862, 0.011, -0.507, 0.5],[-0.139, 0.967, -0.215, 0.7],[0.487, 0.255, 0.835, -1.4], [0.0, 0.0, 0.0, 1.0]])# 显示未配准点云
o3d.visualization.draw_geometries([source_cloud, target_cloud],zoom0.4459,front[0.9288, -0.2951, -0.2242],lookat[1.6784, 2.0612, 1.4451],up[-0.3402, -0.9189, -0.1996])# 点到点的ICP
result o3d.pipelines.registration.registration_icp(source_cloud, target_cloud, threshold,trans_init,o3d.pipelines.registration.TransformationEstimationPointToPoint())
print(result)
print(Transformation is:)
print(result.transformation)# 显示点到点的配准结果
source_cloud.transform(result.transformation)
o3d.visualization.draw_geometries([source_cloud, target_cloud],zoom0.4459,front[0.9288, -0.2951, -0.2242],lookat[1.6784, 2.0612, 1.4451],up[-0.3402, -0.9189, -0.1996])
配准前 配准结果
点到面的配准
import open3d as o3d
import numpy as np# 获取示例数据
source_cloud o3d.io.read_point_cloud(./data/cloud_bin_0.pcd)
target_cloud o3d.io.read_point_cloud(./data/cloud_bin_1.pcd)
source_cloud.paint_uniform_color([1, 0.706, 0])
target_cloud.paint_uniform_color([0, 0.651, 0.929])
threshold 0.02# RMSE残差阈值小于该残差阈值迭代终止#初始位姿
trans_init np.asarray([[0.862, 0.011, -0.507, 0.5],[-0.139, 0.967, -0.215, 0.7],[0.487, 0.255, 0.835, -1.4], [0.0, 0.0, 0.0, 1.0]])source_cloud o3d.io.read_point_cloud(./data/cloud_bin_0.pcd)
target_cloud o3d.io.read_point_cloud(./data/cloud_bin_1.pcd)
source_cloud.paint_uniform_color([1, 0.706, 0])
target_cloud.paint_uniform_color([0, 0.651, 0.929])# 显示未配准点云
o3d.visualization.draw_geometries([source_cloud, target_cloud],zoom0.4459,front[0.9288, -0.2951, -0.2242],lookat[1.6784, 2.0612, 1.4451],up[-0.3402, -0.9189, -0.1996])# 点到面的ICP
result o3d.pipelines.registration.registration_icp(source_cloud, target_cloud, threshold,trans_init,o3d.pipelines.registration.TransformationEstimationPointToPlane())
print(result)
print(Transformation is:)
print(result.transformation, \n)# 显示点到面的配准结果
source_cloud.transform(result.transformation)
o3d.visualization.draw_geometries([source_cloud, target_cloud],zoom0.4459,front[0.9288, -0.2951, -0.2242],lookat[1.6784, 2.0612, 1.4451],up[-0.3402, -0.9189, -0.1996])
配准结果如图
基于Color ICP的点云匹配 参考 import open3d as o3d
import numpy as np
import copydef draw_registration_result_original_color(source, target, transformation):source_temp copy.deepcopy(source)source_temp.transform(transformation)o3d.visualization.draw_geometries([source_temp, target],zoom0.5,front[-0.2458, -0.8088, 0.5342],lookat[1.7745, 2.2305, 0.9787],up[0.3109, -0.5878, -0.7468])
print(1. Load two point clouds and show initial pose)
demo_colored_icp_pcds o3d.data.DemoColoredICPPointClouds()
source o3d.io.read_point_cloud(demo_colored_icp_pcds.paths[0])
target o3d.io.read_point_cloud(demo_colored_icp_pcds.paths[1])# draw initial alignment
current_transformation np.identity(4)
draw_registration_result_original_color(source, target, current_transformation)# point to plane ICP
current_transformation np.identity(4)
print(2. Point-to-plane ICP registration is applied on original point)
print( clouds to refine the alignment. Distance threshold 0.02.)
result_icp o3d.pipelines.registration.registration_icp(source, target, 0.02, current_transformation,o3d.pipelines.registration.TransformationEstimationPointToPlane())
print(result_icp)
draw_registration_result_original_color(source, target,result_icp.transformation)# colored pointcloud registration
# This is implementation of following paper
# J. Park, Q.-Y. Zhou, V. Koltun,
# Colored Point Cloud Registration Revisited, ICCV 2017
voxel_radius [0.04, 0.02, 0.01]
max_iter [50, 30, 14]
current_transformation np.identity(4)
print(3. Colored point cloud registration)
for scale in range(3):iter max_iter[scale]radius voxel_radius[scale]print([iter, radius, scale])print(3-1. Downsample with a voxel size %.2f % radius)source_down source.voxel_down_sample(radius)target_down target.voxel_down_sample(radius)print(3-2. Estimate normal.)source_down.estimate_normals(o3d.geometry.KDTreeSearchParamHybrid(radiusradius * 2, max_nn30))target_down.estimate_normals(o3d.geometry.KDTreeSearchParamHybrid(radiusradius * 2, max_nn30))print(3-3. Applying colored point cloud registration)result_icp o3d.pipelines.registration.registration_colored_icp(source_down, target_down, radius, current_transformation,o3d.pipelines.registration.TransformationEstimationForColoredICP(),o3d.pipelines.registration.ICPConvergenceCriteria(relative_fitness1e-6,relative_rmse1e-6,max_iterationiter))current_transformation result_icp.transformationprint(result_icp)
draw_registration_result_original_color(source, target,result_icp.transformation)
配准前
基于点到平面icp的配准
基于color icp的配准结果
基于fpfh特征的点云匹配
import numpy as np
import copy
import open3d as o3ddef draw_registration_result(source, target, transformation):source_temp copy.deepcopy(source)target_temp copy.deepcopy(target)source_temp.paint_uniform_color([1, 0.706, 0])target_temp.paint_uniform_color([0, 0.651, 0.929])source_temp.transform(transformation)o3d.visualization.draw_geometries([source_temp, target_temp],zoom0.4559,front[0.6452, -0.3036, -0.7011],lookat[1.9892, 2.0208, 1.8945],up[-0.2779, -0.9482, 0.1556])def preprocess_point_cloud(pcd, voxel_size):print(:: Downsample with a voxel size %.3f. % voxel_size)pcd_down pcd.voxel_down_sample(voxel_size)radius_normal voxel_size * 2print(:: Estimate normal with search radius %.3f. % radius_normal)pcd_down.estimate_normals(o3d.geometry.KDTreeSearchParamHybrid(radiusradius_normal, max_nn30))radius_feature voxel_size * 5print(:: Compute FPFH feature with search radius %.3f. % radius_feature)pcd_fpfh o3d.pipelines.registration.compute_fpfh_feature(pcd_down,o3d.geometry.KDTreeSearchParamHybrid(radiusradius_feature, max_nn100))return pcd_down, pcd_fpfhdef prepare_dataset(voxel_size):print(:: Load two point clouds and disturb initial pose.)demo_icp_pcds o3d.data.DemoICPPointClouds()source o3d.io.read_point_cloud(demo_icp_pcds.paths[0])target o3d.io.read_point_cloud(demo_icp_pcds.paths[1])trans_init np.asarray([[0.0, 0.0, 1.0, 0.0], [1.0, 0.0, 0.0, 0.0],[0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 0.0, 1.0]])source.transform(trans_init)draw_registration_result(source, target, np.identity(4))source_down, source_fpfh preprocess_point_cloud(source, voxel_size)target_down, target_fpfh preprocess_point_cloud(target, voxel_size)return source, target, source_down, target_down, source_fpfh, target_fpfhdef execute_global_registration(source_down, target_down, source_fpfh,target_fpfh, voxel_size):distance_threshold voxel_size * 1.5print(:: RANSAC registration on downsampled point clouds.)print( Since the downsampling voxel size is %.3f, % voxel_size)print( we use a liberal distance threshold %.3f. % distance_threshold)result o3d.pipelines.registration.registration_ransac_based_on_feature_matching(source_down, target_down, source_fpfh, target_fpfh, True,distance_threshold,o3d.pipelines.registration.TransformationEstimationPointToPoint(False),3, [o3d.pipelines.registration.CorrespondenceCheckerBasedOnEdgeLength(0.9),o3d.pipelines.registration.CorrespondenceCheckerBasedOnDistance(distance_threshold)], o3d.pipelines.registration.RANSACConvergenceCriteria(100000, 0.999))return resultvoxel_size 0.05 # means 5cm for this dataset
source, target, source_down, target_down, source_fpfh, target_fpfh prepare_dataset(voxel_size)result_ransac execute_global_registration(source_down, target_down,source_fpfh, target_fpfh,voxel_size)
print(result_ransac)
draw_registration_result(source_down, target_down, result_ransac.transformation)匹配前 匹配结果
