问题描述
我想从OpenCV中的3D点列表构建平面.我想通过以下形式找到四个参数来获得结果:Ax+By+Cz+D = 0.有人会建议我这样做吗?
I would like to construct a plane from a list of 3D points in OpenCV. I would like to obtain the result by finding the four parameters in the following form: Ax+By+Cz+D = 0. Would anyone suggest me a way to do it?
推荐答案
如果数据不包含离群值并且不包含多个平面.此外，所有点都精确地位于一个平面上(数据不嘈杂)，它是如此简单:
If the data does not contain outliers and does not contain more than one plane. Furthermore, all the points lay exactly on a plane (the data is not noisy), it is so simple:
- 拾取三个不在同一条线上的随机点.
- 求解此线性方程组:
x1+by1+cz1+d = 0
x2+by2+cz2+d = 0
x3+by3+cz3+d = 0
然后:
A= Choose any number you want in order to match your scale.
B= b*A
C= c*A
D= d*A
如果数据嘈杂或包含离群值或超过平面(或两者兼有)，则需要某种鲁棒估计技术.首先搜索RANSAC.
If the data is noisy or contains outliers or more than plane (or both) you need then some kind of Robust Estimation techniques. Search for RANSAC as a start.
如果您熟悉RANSAC，可以在此处查看此示例关于线条，您可以简单地将其通用化以处理平面)
if you are familar with RANSAC you can see this example here (it is about lines you can simply generlize it to deal with plane)
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