{"id":6129,"date":"2023-08-07T17:03:22","date_gmt":"2023-08-07T09:03:22","guid":{"rendered":"https:\/\/www.neuvition.cn\/?p=6129"},"modified":"2023-08-07T17:03:24","modified_gmt":"2023-08-07T09:03:24","slug":"%e6%a0%a1%e5%87%86%e7%ae%97%e6%b3%95","status":"publish","type":"post","link":"https:\/\/www.neuvition.cn\/technology-blog\/%e6%a0%a1%e5%87%86%e7%ae%97%e6%b3%95.html","title":{"rendered":"\u6821\u51c6\u7b97\u6cd5"},"content":{"rendered":"\n

\u6821\u51c6\u7b97\u6cd5\uff1a\u8fd9\u4e9b\u7b97\u6cd5\u6821\u51c6\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u4ee5\u7ea0\u6b63\u7cfb\u7edf\u8bef\u5dee\u6216\u6f02\u79fb\u3002<\/p>\n\n\n\n

\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6807\u5b9a\u7b97\u6cd5\u7684\u5e94\u7528<\/strong><\/p>\n\n\n\n

\u6fc0\u5149\u96f7\u8fbe\uff08\u5149\u63a2\u6d4b\u548c\u6d4b\u8ddd\uff09\u662f\u4e00\u79cd\u7528\u4e8e\u751f\u6210\u9ad8\u5206\u8fa8\u7387 3D \u5730\u56fe\u548c\u73af\u5883\u6a21\u578b\u7684\u6d41\u884c\u6280\u672f\u3002\u6fc0\u5149\u96f7\u8fbe\u7cfb\u7edf\u751f\u6210\u70b9\u4e91\uff0c\u70b9\u4e91\u662f\u8868\u793a\u73af\u5883\u4e2d\u7269\u4f53\u8868\u9762\u7684 3D \u70b9\u7684\u96c6\u5408\u3002\u7136\u800c\uff0c\u7531\u4e8e\u4f20\u611f\u5668\u672a\u5bf9\u51c6\u3001\u4f20\u611f\u5668\u566a\u58f0\u548c\u73af\u5883\u56e0\u7d20\u7b49\u5404\u79cd\u56e0\u7d20\uff0c\u8fd9\u4e9b\u70b9\u4e91\u53ef\u80fd\u5145\u6ee1\u566a\u70b9\u4e14\u4e0d\u51c6\u786e\u3002\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6821\u51c6\u7b97\u6cd5\u7528\u4e8e\u7ea0\u6b63\u8fd9\u4e9b\u8bef\u5dee\u5e76\u63d0\u9ad8\u70b9\u4e91\u7684\u8d28\u91cf\u3002\u8fd9\u4e9b\u7b97\u6cd5\u901a\u5e38\u6d89\u53ca\u4f30\u8ba1\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u7684\u4f4d\u7f6e\u548c\u65b9\u5411\uff0c\u4ee5\u53ca\u5bf9\u566a\u70b9\u548c\u5176\u4ed6\u56e0\u7d20\u7684\u5f71\u54cd\u8fdb\u884c\u5efa\u6a21\u3002\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6821\u51c6\u5728\u8bb8\u591a\u5e94\u7528\u4e2d\u90fd\u5f88\u91cd\u8981\uff0c\u4f8b\u5982\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u3001\u673a\u5668\u4eba\u548c\u6d4b\u91cf\uff0c\u5176\u4e2d\u51c6\u786e\u53ef\u9760\u7684\u6570\u636e\u5bf9\u4e8e\u51b3\u7b56\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n

\u4ee5\u4e0b\u662f 10 \u4e2a\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6821\u51c6\u7b97\u6cd5\u5e93\u53ca\u5176\u4e0b\u8f7d URL \u548c\u7b80\u8981\u8bf4\u660e\uff1a<\/strong><\/p>\n\n\n\n

1. PCL\uff08\u70b9\u4e91\u5e93\uff09\u2013 http:\/\/pointclouds.org\/downloads\/<\/p>\n\n\n\n

PCL \u662f\u4e00\u4e2a\u5f00\u6e90\u5e93\uff0c\u5305\u542b\u8bb8\u591a\u7528\u4e8e\u5904\u74063D\u70b9\u4e91\u7684\u5de5\u5177\uff0c\u5305\u62ec\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u7684\u6821\u51c6\u7b97\u6cd5\u3002\u5b83\u63d0\u4f9b\u4e86\u4e00\u7cfb\u5217\u7528\u4e8e\u70b9\u4e91\u914d\u51c6\u548c\u8fc7\u6ee4\u7b49\u4efb\u52a1\u7684\u529f\u80fd\u3002<\/p>\n\n\n\n

2. Open3D \u2013 http:\/\/www.open3d.org\/docs\/release\/index.html<\/p>\n\n\n\n

Open3D \u662f\u4e00\u4e2a\u7528\u4e8e3D\u6570\u636e\u5904\u7406\u7684\u5f00\u6e90\u5e93\uff0c\u4e3a\u70b9\u4e91\u914d\u51c6\u548c\u5176\u4ed6\u4efb\u52a1\u63d0\u4f9b\u4e86\u4e00\u7cfb\u5217\u7b97\u6cd5\u3002\u5b83\u652f\u6301\u591a\u79cd\u8f93\u5165\u683c\u5f0f\uff0c\u5305\u62ec PCD\u3001XYZ \u548c PTS \u7b49\u3002<\/p>\n\n\n\n

3. PDAL\uff08\u70b9\u6570\u636e\u62bd\u8c61\u5e93\uff09\u2013 https:\/\/pdal.io\/download.html<\/p>\n\n\n\n

PDAL\u662f\u4e00\u4e2a\u5f00\u6e90\u5e93\uff0c\u63d0\u4f9b\u4e86\u4e00\u7cfb\u5217\u7528\u4e8e\u5904\u7406\u5927\u89c4\u6a21\u70b9\u4e91\u6570\u636e\u7684\u7b97\u6cd5\u3002\u5305\u62ec\u8bb8\u591a\u7528\u4e8e\u8fc7\u6ee4\u3001\u8f6c\u6362\u548c\u5206\u6790\u7684\u5de5\u5177\uff0c\u5305\u62ec\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u7684\u6821\u51c6\u7b97\u6cd5\u3002<\/p>\n\n\n\n

4. Velodyne LiDAR \u6821\u51c6\u5de5\u5177\u7bb1 \u2013 https:\/\/github.com\/ethz-asl\/velodyne_LiDAR_calibration<\/p>\n\n\n\n

\u8fd9\u662f\u7531\u82cf\u9ece\u4e16\u8054\u90a6\u7406\u5de5\u5b66\u9662\u81ea\u4e3b\u7cfb\u7edf\u5b9e\u9a8c\u5ba4\u5f00\u53d1\u7684\u5de5\u5177\u7bb1\uff0c\u7528\u4e8e\u6821\u51c6 Velodyne LiDAR \u4f20\u611f\u5668\u3002\u5b83\u5305\u62ec\u7528\u4e8e\u4f30\u8ba1\u4f20\u611f\u5668\u7684\u5185\u5728\u548c\u5916\u5728\u53c2\u6570\u4ee5\u53ca\u5176\u4ed6\u529f\u80fd\u7684\u5de5\u5177\u3002<\/p>\n\n\n\n

5. libpointmatcher \u2013 https:\/\/github.com\/ethz-asl\/libpointmatcher<\/p>\n\n\n\n

\u8fd9\u662f\u82cf\u9ece\u4e16\u8054\u90a6\u7406\u5de5\u5b66\u9662\u81ea\u6cbb\u7cfb\u7edf\u5b9e\u9a8c\u5ba4\u5f00\u53d1\u7684\u53e6\u4e00\u4e2a\u5e93\uff0c\u5b83\u63d0\u4f9b\u4e86\u70b9\u4e91\u914d\u51c6\u3001\u8fc7\u6ee4\u548c\u6821\u51c6\u7b49\u4efb\u52a1\u7684\u7b97\u6cd5\u3002<\/p>\n\n\n\n

6. ROS\uff08\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf\uff09 \u2013 https:\/\/www.ros.org\/<\/p>\n\n\n\n

ROS \u662f\u4e00\u79cd\u7528\u4e8e\u5f00\u53d1\u673a\u5668\u4eba\u7cfb\u7edf\u7684\u6d41\u884c\u5f00\u6e90\u6846\u67b6\uff0c\u5176\u4e2d\u5305\u62ec\u4e00\u7cfb\u5217\u7528\u4e8e\u5904\u7406 3D \u4f20\u611f\u5668\u6570\u636e\uff08\u5305\u62ec\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\uff09\u7684\u5de5\u5177\u548c\u5e93\u3002\u5b83\u4e3a\u4e0d\u540c\u7c7b\u578b\u7684\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u63d0\u4f9b\u4e86\u4e00\u7cfb\u5217\u6821\u51c6\u7b97\u6cd5\u3002<\/p>\n\n\n\n

7. libnabo \u2013 https:\/\/github.com\/ethz-asl\/libnabo<\/p>\n\n\n\n

\u8fd9\u662f\u4e00\u4e2a\u7528\u4e8e\u9ad8\u7ef4\u7a7a\u95f4\u4e2d\u5feb\u901f\u6700\u8fd1\u90bb\u641c\u7d22\u7684\u5e93\uff0c\u53ef\u7528\u4e8e3D\u6570\u636e\u5904\u7406\u4e2d\u7684\u4e00\u7cfb\u5217\u4efb\u52a1\uff0c\u5305\u62ec\u70b9\u4e91\u914d\u51c6\u548c\u6821\u51c6\u3002<\/p>\n\n\n\n

8. CGAL\uff08\u8ba1\u7b97\u51e0\u4f55\u7b97\u6cd5\u5e93\uff09\u2013 https:\/\/www.cgal.org\/download.html<\/p>\n\n\n\n

CGAL \u662f\u4e00\u4e2a\u7528\u4e8e\u8ba1\u7b97\u51e0\u4f55\u7684\u7efc\u5408\u5e93\uff0c\u5176\u4e2d\u5305\u62ec\u7528\u4e8e\u5404\u79cd\u4efb\u52a1\u7684\u7b97\u6cd5\uff0c\u5305\u62ec\u70b9\u4e91\u914d\u51c6\u548c\u8fc7\u6ee4\u3002\u5b83\u63d0\u4f9b\u4e86\u4e00\u7cfb\u5217\u7528\u4e8e\u5904\u7406\u5177\u6709\u4e0d\u540c\u566a\u70b9\u548c\u5f02\u5e38\u503c\u6c34\u5e73\u7684\u70b9\u4e91\u7684\u5de5\u5177\u3002<\/p>\n\n\n\n

9. Ceres Solver \u2013 http:\/\/ceres-solver.org\/<\/p>\n\n\n\n

Ceres Solver\u662f\u4e00\u4e2a\u529f\u80fd\u5f3a\u5927\u7684\u5f00\u6e90\u5e93\uff0c\u7528\u4e8e\u89e3\u51b3\u975e\u7ebf\u6027\u4f18\u5316\u95ee\u9898\uff0c\u5305\u62ec\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u7684\u6821\u51c6\u3002\u5b83\u63d0\u4f9b\u4e86\u4e00\u7cfb\u5217\u4f18\u5316\u6280\u672f\u6765\u6700\u5927\u9650\u5ea6\u5730\u51cf\u5c11\u6821\u51c6\u8fc7\u7a0b\u4e2d\u7684\u9519\u8bef\u3002<\/p>\n\n\n\n

10. CloudCompare \u2013 https:\/\/www.cloudcompare.org\/<\/p>\n\n\n\n

CloudCompare\u662f\u4e00\u6b3e\u5f00\u6e90 3D \u70b9\u4e91\u5904\u7406\u8f6f\u4ef6\uff0c\u5176\u4e2d\u5305\u62ec\u4e00\u7cfb\u5217\u7528\u4e8e\u70b9\u4e91\u914d\u51c6\u3001\u8fc7\u6ee4\u548c\u5206\u6790\u7b49\u4efb\u52a1\u7684\u7b97\u6cd5\u3002 \u5b83\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7528\u6237\u53cb\u597d\u7684\u754c\u9762\uff0c\u7528\u4e8e\u53ef\u89c6\u5316\u548c\u5904\u7406\u70b9\u4e91\u6570\u636e\u3002<\/p>\n\n\n\n

\u8bf7\u6ce8\u610f<\/strong>\uff0c\u5176\u4e2d\u4e00\u4e9b\u5e93\u53ef\u80fd\u4e0d\u63d0\u4f9b\u7279\u5b9a\u7684\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u6821\u51c6\u7b97\u6cd5\uff0c\u800c\u662f\u63d0\u4f9b\u66f4\u901a\u7528\u7684\u5de5\u5177\u6765\u5904\u7406\u548c\u5206\u67903D\u6570\u636e\u3002 \u6b64\u5916\uff0c\u6839\u636e\u60a8\u7684\u5177\u4f53\u9700\u8981\u548c\u8981\u6c42\uff0c\u53ef\u80fd\u8fd8\u6709\u6b64\u5904\u672a\u5217\u51fa\u7684\u5176\u4ed6\u53ef\u7528\u5e93\u548c\u5de5\u5177\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

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