PCL (Point Cloud Library)の基本となぜ点群処理か_2023年_第2版.pdf

1$- 1PJOU$MPVE-JCSBSZ
ͷ
جຊͱʮͳͥ఺܈ॲཧ͔ʁʯ
ɹˏίϯϐϡʔλϏδϣϯษڧձؔ౦ ୈ൛

౰࣌ͷॴଐ
ܚጯٛक़େֶେֶӃཧ޻ֶݚڀՊɹത࢜՝ఔ
<݄վఆୈ൛>
චऀɿྛণر $7.-ΤΩεύʔτΨΠυ؅ཧਓ

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͜ͷ<ୈ൛>ʹ͍ͭͯ
w ͜ͷࢿྉ͸ʮ೥ͷ$7ษڧձؔ౦ʯͰͷൃදࢿྉΛʮ೥݄ʯ
ʹߋ৽ͯ͠࠶౓ެ։ͨ͠΋ͷͰ͋Δɽ
w ೥΄ͲܦͬͨݱࡏͰ΋ʮ%఺܈ॲཧ΁ͷ1$-Λհͨ͠ಋೖʯͱͯ͠༗
༻ͩͱ൑அ͠ɼ࠶ެ։͢Δ͜ͱʹͨ͠ɽ
w ಺༰͸ͳΔ΂ͦ͘ͷ··ʹ͠ɼಡΈ΍͘͢ͳΔΑ͏จମͱσβΠϯͳͲͩ
͚গ͠੔͑ͨɽʮ೥݄ݱࡏͷঢ়گɾఆ൪ʯͱͷဃ཭͕͋·Γʹܹ
͍͠಺༰ʹ͍ͭͯ͸ɼ੺৭Ͱ஫ऍͷ௥ՃΛߦͬͨɽ
w ೥ͷʮਂ૚ֶशϒʔϜҎલͷݹ͍಺༰ʯͰ͋Δ͜ͱʹ஫ҙ͞Εͨ
͍ɽʢٯʹݴ͏ͱɼए͍ํ͕աڈΛ஌Δʹ͸ϞοςίΠͷ಺༰
ɽ
w ࠓͰ΋ຊ࣭తͳॴ͸มΘ͍ͬͯͳ͍ɽΑͬͯɼϩϘοτϏδϣϯΛςʔϚ
ͱ͞ΕΔڭһͷํͳͲ΋ɼ͜ͷࢿྉΛࠓޙ΋༗ޮతʹ׆༻͍͚ͯͨͩ͠Δ
ͱ޾͍Ͱ͋Δɽ

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ಋೖ

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w ઌഐʮ৽ೖੜͷΈΜͳɺೖθϛͰ͸1$-Λ࢖
༻ͨ͠%ͷ՝୊΋औ૊ΜͰ΋Β͍·͢Αʔʯ
͋ΔϏδϣϯܥͷݚڀࣨʹ͸ɼय़ʹ৽ೖੜ͕དྷ·ͨ͠
w ৽ೖੜʮ%ͱ͔೉ͦ͠͏͔ͩΒɺतۀͰطʹ
΍ͬͨ0QFO$7Ͱ΍Γ·ͤΜ͔ʯ
ίϯϐϡʔλϏδϣϯͰ͸
%఺܈ॲཧͷํ͕೉ͦ͠͏ͩͳ͋
ͱͷΠϝʔδ͕͋ΔΑ͏Ͱ͢
Ͳ͏΋ɺݚڀࣨͷ৽ೖੜͷํͨͪʹ͸ɿ

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ຊ೔ͷ಺༰
w 1$-ͷجຊͷ঺հ
w ʮ৽ೖੜͷօɺ1$-ͷ՝୊΋΍ͬͯ΋Β͍·͢ʯΛղܾɽ
w 1$-ͱ఺܈ॲཧͷ🔰޲͚νϡʔτϦΞϧΛఏڙɽ
w ͳͥ఺܈ॲཧ͔ʁ
w ʮ%ͱ͔೉ͦ͠͏͔ͩΒɺը૾Ͱ΍Γ·͠ΐ͏ΑઌഐʯΛղܾ
w %఺܈ॲཧͷํ͕༗རͰָͳ͜ͱΛ঺հɽ
˞ຊ౰͸ʮʯͷॱͰઆ໌͕ͨ͠ɼઌʹ1$-঺հͨ͠΄͏͕۩ମతʹΠϝʔδ
͠΍͘͢ͳΔͷͰɼ͜ͷॱͰઆ໌ɽ

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఺܈ ϙΠϯτΫϥ΢υ

ର৅ͷ֤఺Qͷ̏࣍ݩ࠲ඪ஋ Y Z [
ͱɼ৭ 3(# 3(#"
͕֨ೲ͞Εͨσʔλ
ը૾σʔλͱͷڞ௨఺ɿ
ɹڑ཭ը૾ͱͯ͠ࡱӨͰ͖Δ৔߹͸ɺ3(#ը૾ͱղ૾౓Λ౷ҰͰ͖Δ
ྫɿ,JOFDUɺ4PGU,JOFUJD

ը૾σʔλͱͷ૬ҧ఺ɿ
w ࿈ଓͯ͠ର৅ද໘͕ಘΒΕΔͱ͸ݶΒͳ͍
w ͕݀͋ͬͨΓɺϊΠδʔͩͬͨΓ͢Δ ݀ຒΊ΍ฏ׈Խ͕ඞཁ

w εϖοΫϧϊΠζ ಛʹ5P'
͕͋Δ

1$-ͷجຊͷ঺հ

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,JOFDUొ৔Ҏલ d

w ਫ਼޼ͳ%σʔλ͕ಘΒΕΔΘ͚Ͱ͸ͳ͘ɼ΍΍ϊΠδʔͳσ
ϓε͔ΒՄೳͳॲཧ͔࣮͠ݱͰ͖ͳ͍ɽ
w ं΍ϩϘοτ͔Βݟͯ΍΍ԕํͷ৔ॴΛೝࣝର৅ͱ͍ͯ͠Δɽ
w .74ͱύονϕʔε̏࣍ݩ෮ݩɿ(PPHMF&BSUIͳͲ
w ର৅γʔϯͷपғΛ৭Μͳ֯౓͔ΒࡱӨ͢Δඞཁ͋Γ
w %࠶ߏ੒ͷܭࢉ͕࣌ؒ௕͘ɼ࣮࣌ؒΞϓϦʹ͸࢖༻
Ͱ͖ͳ͍

wεςϨΦΧϝϥंࡌը૾ೝࣝwϚγϯϏδϣϯͰ࢖༻
1$-ͷجຊͷ঺հ

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,JOFDUొ৔Ҏޙ d

w ୭Ͱ΋%఺܈ GQT
͕࢖͑ΔΑ͏ʹͳ͕ͬͨɿ
w %఺܈ϝογϡॲཧͷϊ΢ϋ΢Λ͍࣋ͬͯΔਓ͕গͳ͍ɻ
w ,JOFDU4%,0QFO/*͸఺܈ͦͷ΋ͷʹର͢Δ֤छॲཧ͸ର৅֎
ʢਓ෺࢟੎ਪఆͳͲɼ/BUVSBM6TFS*OUFSGBDFͷఏڙ͕ओ໨తʣ
w 0QFO$7ͷΑ͏ͳϥΠϒϥϦ͕ɼ%఺܈޲͚ʹ͸ଘࡏ͍ͯ͠ͳ͍
w ഁ֨తʹ௿Ձ֨ͳ,JOFDUͷొ৔ʹΑΓɺ୭Ͱ΋
ʮ%఺܈ʯ͕ʮಈը GQT
ʯͰऔಘՄೳʹɻ
ʮ࣍ݩ఺܈ॲཧʯͷχʔζʹԠ͑ΔͨΊʹ
1PJOU$MPVE-JCSBSZ͕ొ৔ ೥

1$-ͷجຊͷ঺հ

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%ը૾ηϯγϯάͷຽओԽ
ιϑτϋʔυ྆໘Ͱ։࢝

w ϋʔυ΢ΣΞ ηϯαʔ
ͷຽओԽ
w ίϯγϡʔϚσϓεηϯαʔ
,JOFDU 4PGULJOFUJD
͕σε
Ϋτοϓ1$޲͚ʹొ৔ɻ
w ϞόΠϧ޲͚ͷJ1BEͷ
4USVDUVSF4FOTUPS΍
"OESPJEͷ(PPHMF5BOHP
ͳͲ΋ొ৔࢝͠Ί͍ͯΔ
w ιϑτ΢ΣΞͷຽओԽɿ
w 1PJOU$MPVE-JCSBSZͷొ৔Ͱ%
ίϯϐϡʔλϏδϣϯ఺܈ॲཧͷ
ιϑτ΢ΣΞ࡞੒ͷෑډ͕ҰؾʹԼ
͕Δɻ
w 0QFOGSBNFXPSLTͳͲ΁ͷ
0QFO/*ͷ౷߹΍0DVMVTͳͲͷొ৔
ʹΑΓɺՄࢹԽɺΠϯλϥΫγϣ
ϯɺ73ͳͲͰͷ%ίϯϐϡʔλϏ
δϣϯͷ࢖༻΋༰қԽɾ׆ൃԽ

1$-ͷجຊͷ঺հ

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҆Ձͳ,JOFDUొ৔
ˠ%఺܈Ϗδϣϯ͕खܰʹࢼͤΔΑ͏ʹ
w Ҏલ͸ը૾ೖྗͩͬͨʮϚγ
ϯϏδϣϯ෼໺ʯ΋ɼ%఺܈
ೖྗΛࢼ͢͜ͱ͕׆ൃԽɽ
D. Holz, R. et al. “Towards semantic scene
analysis with Time-of-
fl
ight cameras”. RoboCup Intermational
Symposium, 2010
M .Fallon et al. “Ef
fi
cient Scene Simulation for Robust
Monte Carlo Localization Using an RGB-D Camera”
CVPR 2012 tutorial

w ϨϯδϑΝΠϯμ͕ޮՌͳͷͰ
಴࠳͍ͯͨ͠ʮҠಈϩϘοτͷ
؟ʯͱͯ͠΋ɼظ଴ͷ੕ʹɽ
1$-ͷجຊͷ঺հ

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1PJOU$MPVE-JCSBSZͷొ৔
w 1PJOU$MPVEͱ.FTIͷॲཧͷͨΊͷ$ݴޠʹΑΔΦʔϓϯ
ιʔεͷେن໛ϥΠϒϥϦ
w 0QFO$7ͷ࢞ຓϓϩδΣΫτ
w #4%ϥΠηϯεແྉͰ঎༻࢖༻Մೳ
w 8JO.BD-JOVY "OESPJEJ04ͷΫϩεϓϥοτϑΥʔϜ
w 0QFO/*Λ͸͡Ίɺ֤ࣾσϓεηϯαʔͱ௚઀࿈ܞՄೳʢ఺܈
ͷ؆୯ͳϦΞϧλΠϜऔಘʣ

1$-ͷجຊͷ঺հ

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ߏ੒Ϟδϡʔϧʢ1$-ʣɿ
ॳظ͔ΒͷػೳʹՃ͑ɼ৽نϞδϡʔϧ͕ଟ਺௥Ճத

1$-ͷجຊͷ঺հ

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1$-ͷσʔλܗࣜʹ͍ͭͯ
ʢ1PJOU$MPVE1PJOU5
ͱQDEϑΝΠϧʣ
1$-ͷجຊͷ঺հ

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%σʔλ
w 3(#%ηϯαʔͰ୆Ͱ̍౓ʹࡱӨͨ͠σʔλ͸ɺશपғσʔλͷ׬શͳ
%Λୡ੒͍ͯ͠ͳ͍ͱ͍͏ҙຯͰʮ%σʔλʯͱݺͿ͜ͱ͕͋Δɻ
w ࡾ֯ଌྔಁࢹ౤ӨͷηϯγϯάͳͷͰ%σʔλͱͳΔ

,JOFDUͰऔಘͨ͠఺܈
ʢΧϝϥࢹ఺ଆ͔Βʣ
ࠨͷ఺܈Λ্ํ͔Βݟͨ΋ͷ
1$-ͷجຊͷ঺հ

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QDM1PJOU$MPVE1PJOU5ܕ

جຊతͳએݴํ๏ɿ

pcl::PointCloud::Ptr cloud( new PointCloud() );
1PJOU$MPVEʹؚ·ΕΔ఺ͷܗࣜΛද͢1PJOU5ͷྫ
QDM1PJOU9:;
fl
PBUY Z[
QDM1PJOU9:;*
fl
PBUY Z[ً౓
QDM1PJOU9:;3(#"
fl
PBUY Z[3(#"
QDM1PJOU/PSNBM
fl
PBUY Z[ʴOPSNBM<>DVSWBUVSF
QDM)JTUPHSBN
fl
PBUIJTUPHSBN>ɹ
ྫ
ɿ֤఺͕1PJOU9:;3(#"ͷ1PJOU$MPVEܕΦϒδΣΫτͷ࡞੒
PointCloud::Ptr data(new PointCloud());
ʮ৭෇͖ͷ%఺܈ɺ๏ઢʯͳͲͷσʔλΛ֨ೲ͢Δ
1$-ͰҰ൪Α͘࢖͏ΦϒδΣΫτ
1$-ͷجຊͷ঺հ

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1$%ϑΝΠϧܗࣜ
w 1$-ಠࣗఆٛͷ఺܈ϑΝΠϧܗ͕ࣜ1PJOU$MPVE%BUBʢ֦ுࢠ͸QDEʣ
w PCK΍QMZͷΑ͏ʹϝογϡσʔλͷอଘ͕ඞཁͳ͍ͷͰɺ఺܈͚ͩΛอ
ଘ͢ΔͨΊʹޮ཰తͳಠࣗϑΝΠϧܗࣜΛఆٛͨ͠ʢ˞චऀͷԱଌʣ
w όΠφϦʔܗࣜͱςΩετܗࣜͷ̎छྨ͕ଘࡏ Լͷྫ͸ςΩετܗࣜ

1$-ͷجຊͷ঺հ

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1$-JPϞδϡʔϧ
w 1PJOU$MPVE1PJOU5ܕͷσʔλΛ1$-ͷಠࣗϑΝΠϧܗࣜ
ͷʮQDEܗࣜʯ΁อଘɾಡΈࠐΈ͕Մೳ
w 0QFO/*ʹΑΓσʔλΛऔಘͰ͖Δ֤छσϓεηϯα
,JOFDU 9UJPO
͔ΒϦΞϧλΠϜʹಉظ͞Εͨʮڑ཭ը૾
ʴ3(#ը૾ʯΛ1PJOU$MPVEܕͰΩϟϓνϟՄೳ
w ֤छϝογϡσʔλܗࣜʢPCKɺQMZɺWULϑΝΠϧʣͷಡΈ
ॻ͖͕Մೳʢ˞ಡΈࠐΈ͸͋·Γॆ࣮͍ͯ͠ͳ͍ʣ

1$-ͷجຊͷ঺հ

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0QFO/*(SBCCFSϑϨʔϜϫʔΫ
w ,JOFDU͔Βܭଌ͞ΕΔ3(#%σʔλΛ௚઀औಘ͢ΔͨΊͷ
Ϟδϡʔϧʢ0QFO/*ͷ֘౰ॲཧͷϥούʔʣ
w 3(#ը૾ͱڑ཭ը૾͕Ґஔ߹ΘͤwಉظࡁΈͷঢ়ଶͰɺ
1PJOU$MPVE1PJOU5ܕΦϒδΣΫτͱͯ͠औಘͰ͖Δ

1$-ͷجຊͷ঺հ

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఺܈ͷϦΞϧλΠϜऔಘ
#include
pcl::OpenNIGrabber grabber(argv[2]);
boost::function cloud_cb = boost::bind
(&OpenNIViewer::cloud_callback,this, _1);
boost::signals2::connection cloud_connection = grabber_.registerCallback
(cloud_cb);ɹ// cloud_cbؔ਺Λొ࿥
void
cloud_callback (const CloudConstPtr& cloud)
{
boost::mutex::scoped_lock lock (cloud_mutex_);
cloud_ = cloud;
//ຖϑϨʔϜ͝ͱͷcloud΁ͷॲཧΛ͜͜ʹهड़
}

0QFO/*(SBCCFSʹCJOEͨؔ͠਺ͷҾ਺Ͱɼ֤ϑϨʔϜͷ
1PJOU$MPVEΦϒδΣΫτ͕औಘͰ͖Δ
ຖϑϨʔϜͷॲཧΛίʔϧόοΫؔ਺ʹهड़͢Δ
1$-ͷجຊͷ঺հ

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1$-7JTVBMJ[FS
w 1$-ͷ఺܈Λͱͯ΋؆୯ʹ%ՄࢹԽ͕Ͱ͖Δ PQFO$7Ͱ͍͏IJHI(6*

w Ϛ΢ε΍ΩʔϘʔυͷೖྗ΋ड͚෇͚Δɽ
w %Ϟσϧ PCKϑΝΠϧ౳
΋ಉ࣌ʹදࣔͰ͖ɺ%σʔλʹॏཁͳ๏ઢͷ
ՄࢹԽػೳ΋࠷ॳ͔Β౥ࡌ
ՄࢹԽπʔϧ 1$-7JTVBMJ[FS

͕ఏڙ͞Ε͍ͯΔ͓͔͛Ͱɼ
఺܈ॲཧͷΈʹूதͰ͖Δͱ͍
͏ϝϦοτΛ1$-͕࢝Ίͯఏڙ
Ͱ͖͍ͯΔ

˞ ୈ൛ͷ೥ݱࡏͰ͸ɼଞʹ΋ଟ͘ख
ஈ͕͋Γɼ͋͘·Ͱ೥౰࣌ͷ࿩Ͱ
͋Δ͜ͱʹ஫ࢹ
1$-ͷجຊͷ঺հ

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1$-ͷ๏ઢਪఆ
w '-"//Λ༻͍ͨ,EUSFFʹΑΔۙࣅ࠷ۙ๣
୳ࡧ QDM/PSNBM&TUJNBUJPO

w *OUFHSBM*NBHFΛ༻͍ͨߴ଎ͳ๏ઢਪఆ
QDM*OUFHSBM*NBHF/PSNBM&TUJNBUJ
PO

͜ΕΒͷΫϥεʹؙ౤͛͢Δ͚ͩͰ๏ઢਪఆ͕Մೳ
ʹ1$-͸ 0QFO$7ͷΑ͏ʹ
ศརͳϥΠϒϥϦͰ͋Δ
˞ ୈ൛ͷ೥ݱࡏͰ͸ʮৄղ࣍ݩ఺܈ॲཧʯ͕࠾༻͍ͯ͠Δʮ0QFO%ʯ
΋ศརͰ͋Δɽࠓ͸1$-͚͕ͩબ୒ࢶͱ͍͏ঢ়گͰ͸ͳ͍ɽਂ૚ֶशϕʔεͷ
%఺܈ॲཧʹ͍ͭͯ΋ɼଟ਺ιϑτ΢ΣΞ΋ެ։͞Ε͍ͯΔ
1$-ͷجຊͷ঺հ

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%఺܈ॲཧͰͷ๏ઢͷ໾ׂ
w ௚ײతʹ͸
%ද໘ͷඍ෼ํ޲ͳͷͰɺը૾Ͱݴ͏Τοδʹ૬౰
w ҙຯ෼ׂ΍෺ମೝࣝͳͲΛߦ͏্Ͱɺॏཁͳಛ௃ϕΫτϧͱͳΔ
w ·ͨɼ%఺܈͸ϝογϡॲཧʹ΋࿈ܨͰ͖Δ
w ϝογϡॲཧͰ΋๏ઢํ޲͸ॏཁͳಛ௃

1$-ͷجຊͷ঺հ

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1$-ͷϝΠϯϞδϡʔϧ܈
1$-ͷجຊͷ঺հ

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༗ྉηϛφʔͰղઆ͍ͯ͠Δ͏ͪɺ
ʮ'JMUFSTʯϞδϡʔϧͷղઆͷΈɼຊ೔͸঺հ͠·͢
1$-ͷجຊͷ঺հ

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'JMUFSTϞδϡʔϧ
w ఺܈޲͚ͷϊΠζ΍֎Ε஋আڈɺฏ׈ԽͳͲͷϑΟϧλϦϯάΛఏڙ
w ओͳΞϧΰϦζϜɿ
w ಛఆͷྖҬ͚ͩநग़ 1BUI5ISPVHI

w ฏ׈Խ #JMBUFSBM'JMUFS

w μ΢ϯαϯϓϦϯά 7PYFM(SJE
fi
MUFS

w ֎Ε஋আڈʢ4UBUJTUJDBM0VUMJFS3FNPWBMʣ

1$-ͷجຊͷ঺հ

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'JMUFSJOHͷඞཁੑ
w ͕݀͋Δˠ݀ຒΊॲཧ 4VSGBDFϞδϡʔϧ

w ϊΠζ͕ଟ͍
w ࿈ଓͨ͠ද໘্ͰͷԜತˠ#JMBUFSBM'JMUFSͰΤοδอଘͨ͠
··ฏ׈Խ
w ࢄൃతͳϊΠζʢεϖοΫϧϊΠζʣ
ˠ4UBUJTUJDBM0VUMJFS3FNPWBMͰ֎Ε஋আڈ
w σʔλྔ͕ଟ͍ˠ7PYFM(SJE'JMUFSͰμ΢ϯαϯϓϦϯά
%ηϯαʔͷੜσʔλ͸ดͨ͡ʢ݀ͷແ͍ʣ
حྷͳ఺܈Ͱ͸ͳ͍ͷͰલॲཧͷඞཁੑ͋Γ

1$-ͷجຊͷ঺հ

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1BTT5ISPVHI'JMUFS
pcl::PointCloud::Ptr cloud
(new pcl::PointCloud);
pcl::PointCloud::Ptr cloud_filtered
(new pcl::PointCloud);
pcl::PassThrough pass;
pass.setInputCloud (cloud);
pass.setFilterFieldName ("z");
pass.setFilterLimits (0.0, 1.0);
//pass.setFilterLimitsNegative (true); ࢦఆൣғΛऔΓআ͘৔߹
pass.filter (*cloud_filtered);
ೖྗ఺܈ͷ͏ͪɼࢦఆͨ̍࣍͠ݩ ͜͜Ͱ͸[
ํ޲ͷಛఆ
ͷൣғͷ఺܈ͷΈΛɼϑΟϧλϦϯάॲཧͰऔಘͰ͖Δ

1$-ͷجຊͷ঺հ

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7PYFM(SJE'JMUFS
// ࢦఆͨ͠voxel grid·Ͱμ΢ϯαϯϓϦϯά
pcl::VoxelGrid vg;
vg.setInputCloud (cloud);
vg.setLeafSize (0.01f, 0.01f, 0.01f); //0.01mཱํͷάϦουΛઃఆ
vg. filter (∗cloud filtered );
w ࢦఆͨ͠7PYFM(SJEͷେ͖͞·Ͱ఺܈ΛϘΫηϧԽ
w ֤άϦου͸άϦου಺ͷ఺ͷதԝ஋Ͱۙࣅ͞ΕΔ

1$-ͷجຊͷ঺հ

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4UBUJTUJDBM0VUMJFS3FNPWBM
pcl::StatisticalOutlierRemoval sor;
sor.setInputCloud (cloud);
sor.setMeanK (50);
sor.setStddevMulThresh (1.0);
sor.filter (*cloud_filtered);
w ہॴ͝ͱͷີ౓ʹै͍ɺ఺ΛϑΟϧλϦϯά
w ֤ྖҬͰฏۉີ౓͔Βൺ΂ͯεύʔεͳ఺Λআڈ

1$-ͷجຊͷ঺հ

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લ൒ͷ·ͱΊ
w 1PJOU$MPVE-JCSBSZͷجຊ͚ͩ঺հɿ
w 1PJOU$MPVEͱ3(#%σʔλͷߏ଄ʹ͍ͭͯಋೖ
w ,JOFDUΛ࢝Ίͱ֤ͨࣾ͠σϓεηϯαʔ͔Β؆୯ʹ
ϦΞϧλΠϜͷ఺܈ΛऔಘՄೳ
w 1$-7JTVBMJ[FS͕͋ΔͷͰ%ՄࢹԽ΋؆୯
w ๛෋ͳެࣜνϡʔτϦΞϧͰߋʹษڧ͠·͠ΐ͏

1$-ͷجຊͷ঺հ

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ޙ൒ͳͥ఺܈ॲཧ͔ʁ
ͳͥ఺܈ॲཧ͔ʁ

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ʮίϯϐϡʔλϏδϣϯϏδϣϯΫΠζʯ
ͷίʔφʔ
࣍ͷεϥΠυ͔Βͷ֤໰୊ʹ͍ͭͯ
ʮը૾ೖྗͱσϓεೖྗͷͲͪΒͷํ͕
؆୯ʹޮ཰Α͘ղ͚Δ͔ʁʯ
ʹ͍ͭͯɼΈͳ͞·ʹ౴͑ͯ΋Β͍·͢

ͳͥ఺܈ॲཧ͔ʁ

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2ηάϝϯςʔγϣϯ
w "ը૾ w #σϓε
IUUQXXXFFDTCFSLFMFZFEV
3FTFBSDI1SPKFDUT$4WJTJPO
HSPVQJOHSFTPVSDFTIUNM
IUUQDTOZVFEVdTJMCFSNBOQSPKFDUT
JOEPPS@TDFOF@TFH@TVQIUNM

ͳͥ఺܈ॲཧ͔ʁ

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2ਓݕग़
w "ը૾ w #σϓε

ͳͥ఺܈ॲཧ͔ʁ

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,JOFDUͷਓ෺࢟੎ਪఆɿ
৭ɾςΫενϟ͕ؔ܎ͳ͍యܕྫ
σϓεͷΈͰܭࢉ͍ͯ͠ΔͷͰ ը૾͔Βͷೝࣝͱҧ͍

ܗ͚ͩͰࣝผ͠ɺҥ෰ɾഽͷςΫενϟ͸࢖༻͠ͳ͍
˞ਓ෺ྖҬͷநग़΋
ۭؒͷ഑ஔ͚͚ͩͩͰ
ߦΘΕ͍ͯΔ

ͳͥ఺܈ॲཧ͔ʁ
ਤɿஶऀͷʮίϯϐϡʔλϏδϣϯͷηΧΠʯͷهࣄΑΓ

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ը૾ಛ௃WT఺܈ಛ௃
<֤࠲ඪͷੜσʔλ>
఺"ͱ఺#ͷ
σϓε ˠ%࠲ඪ
ͷҧ͍
఺"ͱ఺#ͷ
3(#஋ͷҧ͍

ͳͥ఺܈ॲཧ͔ʁ

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఺"ͱ఺#ͷ
%Τοδํ޲ͷҧ͍
఺"ͱ఺#ͷ
%๏ઢํ޲ͷҧ͍
ύον಺ͷ)0( 4*'5ͳͲ αʔϑΣεൣғ಺ͷ๏ઢώετάϥϜ
ը૾ಛ௃WT఺܈ಛ௃
<ඍ෼஋>

ͳͥ఺܈ॲཧ͔ʁ

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8IZ% ෺ମೝࣝͷ৔߹

ը૾ɿl*$3"1$-UVUPSJBMlΑΓҾ༻
ޫ؀ڥɾ൓ࣹͳͲͰɼlೋ࣍ݩը૾Ͱ͸ରԠ෇Ͱ͖ͳ͍ঢ়گz
ˠσϓε %ܗঢ়
͕͋Ε͹ɼͳΜͱ͔Ͱ͖ͦ͏ʂʂ

ͳͥ఺܈ॲཧ͔ʁ

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lೋ࣍ݩը૾͸෺ମೝࣝ ҙຯநग़
ʹࣦഊ͢Δ͜ͱ͕͋Δz


ͳͥ఺܈ॲཧ͔ʁ

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l%ը૾͸ͨͩͷ̎࣍ݩ౤ӨͰ͋Δz
ʢ˞ͪ͝Όͪ͝Όͱ෺͕ଟ͍৔ॴͰࣦഊ͕ͪ͠ʣ

ͳͥ఺܈ॲཧ͔ʁ

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QDM3FDPHOJUJPO
w %ಛ௃ϕʔεͰςϯϓϨʔ
τ఺܈ͱͷؒͰϚονϯά
w ෺ମΛೝࣝ%࢟੎ਪఆ
w ௚ײతʹ͸
ը૾ಉ࢜Ͱͷ
4*'5Ϛονϯάͷ࣍ݩ൛
IUUQQPJOUDMPVETPSHEPDVNFOUBUJPOUVUPSJBMT
DPSSFTQPOEFODF@HSPVQJOHQIQDPSSFTQPOEFODFHSPVQJOH

ͳͥ఺܈ॲཧ͔ʁ

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ϓϦϛςΟϒݕग़
఺܈WTը૾
3"/4"$ʹΑΔฏ໘ݕग़ )PVHIม׵ʹΑΔ௚ઢݕग़
ͳͥ఺܈ॲཧ͔ʁ

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ฏ໘ݕग़ฏ໘Ҏ֎Λநग़
˞1$-ͷ&VDMJEJBO$MVTUFSJOHΛ࢖༻
%఺܈͸ɼฏ໘্ͷ෺ମ
நग़͕؆୯ʂʢۭؒൣғ
Ͱ෼͚Δ͚ͩͳͷͰʣ
ᶅ෺ମநग़݁ՌʢҰ൪ࠨͷ෺ମʣ
ᶄฏ໘ݕग़ ͜ͷ఺܈Λᶃ͔ΒऔΓআ͘

ᶃೖྗͷ఺܈
ͳͥ఺܈ॲཧ͔ʁ

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1$-ͷ3(#%ਓ෺ݕग़

ը૾ɿ*"41$-νϡʔτϦΞϧΑΓ
w চݕग़ͷԠ༻ྫ
w ॲཧखॱ
w চฏ໘ݕग़ લॲཧ

w &VDMJEJBO$MVTUFSJOH
w )0(ਓ෺ݕग़ث
ͳͥ఺܈ॲཧ͔ʁ

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ը૾ೖྗͰͷॲཧͰ΋
 
চฏ໘͘Β͍ਪఆͰ͖Δ͕
఺܈͕ͳ͘
ը૾ೖྗ͔ΒͰ΋ɼ
ʮᶃΧϝϥΩϟϦϒϨʔγϣϯ
ʮᶄচͷ%࠲ඪܥ͕ط஌ʯ
Ͱɼচ໘ͷີͳ࠲ඪܥΛٻΊΒΕΔ
ྫɿࠨਤ
ɽ
͔͠͠ʮฏ໘తͳද໘ চ΍น
ʯ΍ʮ௚ઢݕग़Ͱ͖Δচ໛༷ʯ
Ҏ֎Ͱ͸ɺচͷ࠲ඪܥ͕ը૾ຕ͔Β͸ਪఆͰ͖ͳ͍
σϓεηϯαʔͰ͋Ε͹ɺ চʹݶΒͣ

γʔϯͷ%ද໘ܗঢ়͕ɺ࣮࣌ؒʹऔಘͰ͖Δ

ͳͥ఺܈ॲཧ͔ʁ

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73 "3
σϓεηϯαʔ΋࢖༻Ͱ͖Δͱͨ͠Βʁ

ର৅෺΍ର৅ਓ෺ɺपғͷۭؒͷ%ܗঢ়ಈ͖͕Θ
͔͍ͬͯΔͳ͔Ͱʮ$(Λγʔϯͱಉ࣌දࣔʯ͢Δ
ྫɿ
w Ծ૝ࢼணϛϥʔͰͷ༸෰$(ࢼணɽ
w εϚϗσϓεηϯαʔͰ"3 ήʔϜ

w 73ΰʔάϧ/BUVSBM6TFS*OUFSGBDFͳͲ
ʢσϓεηϯαʔొ৔Ҏલͷʣ15".ͳͲͷը૾ϕʔε"3Ͱ͸ɺ
ը૾͔Β༧ଌͨ͠ฏ໘্ʹ͔͠ॏ৞Ͱ͖ͳ͔ͬͨ

ͳͥ఺܈ॲཧ͔ʁ

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%ܗঢ়ΛࡱΔGPS%ϓϦϯτ
w %ϓϦϯλɿओͳೖྗσʔλ͸ʮ$"%$(ιϑτͰ
࡞੒ͨ͠%ϞσϧʯͰ͋ͬͨ
Ϟσϧ ϓϦϯτ݁Ռ
࣮෺΋εΩϟϯͯ͠ೖྗσʔλͰϓϦϯτ
IUUQXXXQPJOUDMPVEKQCMPH@O

ͳͥ఺܈ॲཧ͔ʁ

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%ΛࡱΔGPSෆಈ࢈ɾݐங
w ߴਫ਼౓ͷ%εΩϟφʔ ਺ඦສԁ
Λ༻͍ͯɺͬ͠
͔Γߴਫ਼౓ʹγʔϯΛ%Խ ˞-J%"3ܭଌ͸ߴՁ

,JOFDUϕʔεͷʮ਺ेສԁͷ%εΩϟφʔʯͰ
ࠓޙ͸ࣄ଍Γ͍ͯ͘ʁʁ

ͳͥ఺܈ॲཧ͔ʁ

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ϞόΠϧεΩϟϯ
4USVDUVSF4FOTPS 5BOHPͳͲ

w ෺΍ɺਓɺۭؒ͸ɺλϒϨοτ΍εϚϗͰ%εΩϟϯ͢Δ࣌୅΁
ʢདྷ೥೥ʹϒϨΠΫʁʣ
w 4-".͕ຽओԽʢ௿Ձ֨Խʣ͠͸͡ΊΔɺͱ͍͏ྲྀΕͱ΋ݴ͑Δ
4USVDUVSF4FOTPS"U3JQMFZT#FMJFWF*U0S/PU
IUUQXXXZPVUVCFDPNXBUDI W+NH3E'20-1X

ͳͥ఺܈ॲཧ͔ʁ
˞ ୈ൛ͷݱࡏͰ͸ɼεϚϗɾλϒϨοτͷߴڃϥΠϯʹ
͸ɼσϓεηϯαʔ౥ࡌࡁΈ͕ͩɼ͜ͷ౰࣌͸·ͩʮεϚϗ֤
͕ࣾɼࠓޙ͜ΕΒʹखΛग़͔͢΋ʁʯͷஈ֊Ͱ͋ͬͨɽ

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ޙ൒ʮͳͥ఺܈ॲཧ͔ʁʯ·ͱΊ
w ʢ৭Λແࢹͯ͠ʣ࣍ݩͷܗ͚ͩͰର৅ΛೝࣝͰ͖Δ
w ʢਓ޻෺ͩͱಛʹʣฏ໘΍ԁபͳͲϓϦϛςΟϒ͋ͯ͸
Ίָ͕ʢ*MPWF3"/4"$ʣ
w ର৅ΛϑϧεΩϟϯ͢Ε͹%ੈքશମΛͦͷ··%Ͱ
೺ѲɾՄࢹԽͰ͖Δ
w ࡱͬͨର৅͸σβΠϯʹ΋׆͔ͤΔϞόΠϧ3(#%ηϯ
αʔͷొ৔Ͱɺ%఺܈σʔλ͸དྷ೥Ҏ߱େྔʹ૿͑Δʁ
ͳͥ఺܈ॲཧ͔ʁ

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%఺܈ͷํ͕ɼزԿతද໘৘ใ͕ϦονʹಘΒΕΔ෼
͚ͩɼը૾ೖྗΑΓ΋֤Ϗδϣϯ໰୊Λղ͘ͷ͕؆୯ɽ
ຊ೔ͷ5BLFIPNFNFTTBHF
఺܈ॲཧ͸ʮΑΓ؆୯ʯ

˞ தڃऀͷํ͸ɼࢲͷαΠτʮ$7.-ΤΩεύʔτΨΠυʯ΋νΣοΫ͠
ͯΈ͍ͯͩ͘͞ɽࠓޙɼ఺܈ɼ%ॲཧͷهࣄ΋૿΍͍͖ͯ͠·͢

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PCL (Point Cloud Library)の基本となぜ点群処理か_2023年_第2版.pdf

PCL (Point Cloud Library)の基本となぜ点群処理か_2023年_第2版.pdf

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