三维点云学习（9）5-实现RANSAC Registration配准-结果批量输出
本章因个人能力有限，大部分代码摘自github大神的code
批量处理 点云配准
只需修改三维点云学习（9）5-实现RANSAC Registration配准中的main.py 部分即可
##批量读取
for i,r in progressbar.progressbar(
list(registration_results.iterrows())
):
idx_target = int(r['idx1'])
idx_source = int(r['idx2'])
# idx_target = 643
# idx_source = 456
##load point cloud
# add result:
io.add_to_output(df_output, idx_target, idx_source, final_result.transformation)
# # write output:
io.write_output(
os.path.join(input_dir, 'reg_result_yaogefad.txt'),
df_output
)
输出结果 reg_result_yaogefad.txt
idx1,idx2,t_x,t_y,t_z,q_w,q_x,q_y,q_z
643,456,-4.324577666048505,-5.936694871967135,-1.1100622877187845,0.9998109024876956,0.009204823146906377,-0.002207201170144596,-0.016987017412379565
0,456,1.0600245170334337,1.6823260556699455,-0.13284587301159623,-0.5446973339068893,0.0019370955830865651,-0.007114282189493684,0.8386002916076032
645,189,-0.591458678067337,4.343619982607567,-0.09857074174926916,0.7654577420953953,0.002928412071592264,0.0078130486160687,0.6434320676965682
2,458,-7.768247423943679,-4.795637924359908,-0.07058072563595927,0.9999323255999062,-0.009379431804758054,-0.006881963618598362,9.51637301975783e-05
189,270,-7.542600454936164,-2.3395360479411798,0.0052372766422035255,-0.036792823091166035,-0.01089744160309408,0.015396388798157148,0.9991448769560225
646,189,-0.18085618066533016,3.56592568461196,-0.04722209584340176,0.7515849489384009,0.010465425366519336,-0.005283899279838294,-0.6595321218936647
3,273,3.7011138201932683,-9.510750216829008,0.03182990395094587,0.9597231197686402,-0.00525162240901305,6.702829640289185e-05,0.28089846804642543
189,273,11.631442495081856,-0.25848665355854916,0.19855816140882257,0.6937264916221906,-0.020895593094793545,0.0028041212014361314,0.7199299034732972
273,458,0.904277337957998,10.80643969463171,0.041296958222136415,0.9964939082875988,-0.00036049518761160806,-0.002554670355973241,0.08362556097449397
647,635,-29.56152427486179,-14.690674119038787,0.641095401480471,0.0017429800040181245,0.041453906592091395,0.02597592974709211,0.9988011747704014
179,192,15.194478134234501,2.052186525662951,0.5474244021977785,0.9992368898117596,-0.03487440165809431,0.017506391566068997,-0.0017147602301448854
191,635,8.035628550374138,-20.535693511240396,-0.2059241225780094,0.9478565349259812,-0.030739196760956534,-0.009750109969248202,0.31706154975996514
459,635,-3.861995616125352,0.13516344230345612,-1.3610144845065189,0.03292512621089851,0.9942738685464794,-0.09790971707957438,-0.02736964908456963
648,461,3.039077881162317,7.865171511070145,0.09122849891408324,-0.50854836408472,-0.016411023222888215,-0.01629792921562427,0.8607227295748703
191,274,-9.93026319244237,1.8380486909685687,0.36128324693397906,0.8870590076083922,0.003456091604777164,0.01760983443023366,-0.4613071278258918
649,178,-17.53591143684232,1.67684304795073,0.08511137318022288,-0.38093235326565955,0.023159748947561617,0.06909630796706916,0.9217265692652526
6,178,1.6425211890640852,2.391808442042407,-0.676790670470597,0.03723948309533722,-0.6735935444992788,0.7371633959983843,-0.03840683933649891
7,178,-28.743806371012624,-10.708613741591854,14.223592231933493,-0.3781927212277766,-0.16858362441102678,0.8968281318793251,-0.1557213185810181
177,274,10.3843518605881,1.7005881751137726,-1.4629264470567513,-0.04441537130548155,-0.0016423734945396062,0.9989461184332804,0.011455560579187271
192,446,-5.746000437851121,0.08939614903281012,0.6170090129111103,0.12811209863334272,0.3080571694850456,-0.0868783440741131,0.938690696578784
275,462,0.6091400565367602,3.5797405375734703,0.11571822899816375,0.8477877721575906,0.013229046818696678,-0.017877607914612584,0.5298691129284564
650,177,3.3481935798229436,-1.7711253005218068,0.010589125937974841,5.432183814157998e-07,0.00015830612501669533,-3.1204471207987514e-05,0.9999999869825782
8,193,1.721791018622596,18.071102900936094,-0.7196259094375276,-0.6328720424947151,0.0065838513201767115,0.007683494400027105,0.774190283227687
177,463,8.964222910646434,1.2135224658501331,-1.499004489205412,-0.025457913508312544,0.8497526643099805,-0.5253470757234483,-0.03581555760719284
275,633,-2.03111246765401,-6.539601480516714,-0.24782860863582218,-0.6401134422661632,0.021369298438934474,-0.04210208672007835,0.7668282391828083
651,9,9.997542129641104,-5.05387944418485,0.13022112946399855,0.9974659608247594,0.0017452999505361284,0.00590122458543096,-0.07087867431332774
9,176,-8.136217013834004,-0.2004564759331,-0.3837537420533206,0.19353331393048234,-0.010403213424763504,-0.03651791366112855,0.9803586443395921
176,276,9.110642694514507,-2.353216408797578,-0.13098094433529917,0.9987540368182132,0.04018183063277134,-0.003357968626023503,0.029402694996023285
195,445,-12.453007495628501,3.5065307273630566,-0.02759006695478311,0.87634465476885,-0.007560952783003279,0.01419790598838381,-0.4814159298534097
277,464,0.9643596148355211,2.872610636867786,0.0861376606473554,0.9484854252061445,0.007294962109649075,-0.007897616633741602,0.3166382941951976
652,175,-4.259355995470567,-6.965502826220761,1.5807669720816537,0.8023062515675571,-0.050739083497518656,0.04078782693959938,0.5933519843018922
9,196,2.008870838054342,-1.1723006865245087,0.033352810003470346,0.6174667010069148,-0.0052861153627782225,-0.0009929594680629795,0.7865786319011618
176,196,-2.6070690880725444,-1.6680153200249035,0.09281999133019325,-2.8704757099151657e-05,-0.002047897005049343,0.003657287109507936,0.9999912147338557
277,465,7.174841909814906,11.756663510366204,-5.030441323841461,0.9834923413230263,0.03883149435886673,-0.05492989792489135,-0.16798105821422277
653,278,-3.6512119511852847,-2.068119882296453,-0.014814758009085605,0.9950418399016703,0.002256535837400491,-5.7001012424134975e-05,0.09943159277612923
11,279,0.5820830945275874,5.425889034676438,0.10469900094304907,-0.5050497007559738,0.0004539943748091968,-0.0006107385471365737,0.8630899261686675
174,466,-5.063166934117067,3.627362377230132,-0.24680381146282948,-0.03099775937974064,-0.03224719822644053,-0.020121480263232138,0.9987964673305552
278,442,11.178749477725319,0.7672176880854737,-0.1944029717077458,0.2928273274107272,0.017723710258467085,-0.03443322354931623,0.9553807510789442
465,630,2.496133479728714,0.22509946267499847,2.6173757058300953,0.12666900807442588,0.034620841061966674,0.9782652472209279,-0.16047886414534487
654,467,4.747443720355754,-0.5911623990277658,0.0028003497654756626,0.9995986744163851,0.02831290066873259,0.0007050930390604463,-0.0006104134128104983
12,442,-1.160536785363309,-4.02586985934156,-2.2191125882985885,-0.10389307287260299,0.9762922467873021,0.07733915707461712,-0.17343106139062145
197,442,-4.410513613013294,-0.35958751917831344,-0.17603810459008074,0.9934531489160864,-0.026497633747498923,-0.024661796604614074,-0.10835364369843989
442,467,2.666147712521486,1.8526202093232655,-0.02852951651440988,0.9722710949823167,0.0009670484948257379,-0.028045635010529382,0.23216680433677786
655,467,-1.1244167248184556,-1.2154645264358306,-0.04407926024563724,-0.12068336298048758,0.008229672623985827,0.005644055555400463,0.9926408932867461
172,281,3.798610276426187,-5.147026983327348,12.925784217305592,0.046870341014577495,0.07205089761812263,0.9707482456480023,0.2241867142738969
199,468,-6.5396005585134365,3.749623322367346,-0.2674448152776956,0.9668015228912971,-0.0005922538185560275,9.659370853269737e-05,0.25552779739225745
656,468,-2.397725912417161,0.18650867164288387,-0.08048327112734133,0.898203745884161,0.004944434896416662,0.007366393560371439,0.4394898402570078
200,282,1.9175354172869257,-0.10598921336005906,-0.0863248588371539,0.7212555356661732,-0.0030767959584956984,0.0036106181761397095,-0.6926528344227846
13,201,4.468186238048171,12.202532180569833,-0.41531892101049583,-0.005748152054095745,-0.0003696124620637578,-0.001864522486530976,0.9999816726772986
201,282,2.8071779640059624,8.133751277402014,0.33449564185050085,0.11292806565429978,-0.0018362405549356695,-0.0033801609821602426,0.993595719958544
658,470,1.5044622503268572,0.8701225596583001,-0.12611719318200332,0.27135028474123185,-0.0038375329798722825,-0.0032053173087813916,0.9624676733545032
16,470,-9.805181036750486,2.033570403768962,0.2975636295479285,0.639578498797197,-0.000814151188817562,-0.00032878447345372765,0.7687252909426979
659,17,9.74771937321836,-2.2247970223457614,-0.08466392735567352,0.9995559710359011,-0.0014231167238792305,-0.007533778027239021,-0.02879370927656506
17,203,-6.468415862739345,0.8834375199786089,0.12985569912527217,0.9731156732114147,-0.000754814827812323,-0.001143714140714533,-0.23031284966939033
660,204,-1.8551878483375817,-2.3481115002736854,0.028977403634780297,0.8332740732957538,-0.002903786716621963,0.008101628455102669,0.5527931352795389
204,285,8.402528108705269,-1.6798125401566464,0.08587938934722206,0.9682914254958978,-0.0016151447089508839,0.00041349165432101424,0.24981780489657537
661,286,-4.292303047753331,2.3478418885074337,-0.055871512888801655,0.9806287072872212,-0.0001193215948938398,-0.0057453525691294645,-0.19579150934197032
662,288,-0.8431576589029686,7.265117745146487,0.013717551087017332,-0.1595522933867617,-0.00025966958563751426,0.0030838805320686385,0.9871846270721576
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663,288,2.334601487424865,-1.5292741034269095,-0.013983162761558532,-0.38442067607349895,-0.0022190466345599702,0.004281441365513712,0.9231454321498109
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290,477,0.04857532899149497,-2.6652210907384837,0.020583397919206492,-0.3793783703465307,0.0038268169571687174,0.00790947390458903,0.9251998961347432
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26,481,2.4801843018945675,0.0685710674061375,0.06989093819270309,0.5574436626212845,0.00023439748924737044,0.0009512531270095314,0.8302141911450761
670,213,4.805425939630198,-1.0610249934528357,-0.0286272467594908,0.7971825123217394,0.006198023381335696,0.004369374231745062,0.6036907611711374
213,482,-1.1645418326200372,14.022827205706609,-0.22088415775263814,0.9925234630030095,0.0011245867988022567,-0.0008754843673178907,0.12204566448738795
27,483,0.26025633989247465,-15.386543386794838,-0.19552542998364686,0.36338558710793545,0.0009111615594617679,-0.0015891094331753433,0.9316370321096318
672,29,8.070869655868389,-2.850591794168496,0.09248155253309642,0.7032868265505859,-0.015730878168171744,-0.002806028060416831,0.7107266037506887
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30,300,6.395096796287791,4.087330424873639,0.08886416221952387,-0.15025033108926858,0.017216913892754093,-0.008020657233204635,0.9884655203602816
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32,298,6.007564513682988,2.796690026175107,0.18756187486621956,0.9823549383436165,-0.02000217151268395,-0.004094766493119466,-0.18590836757406462
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35,490,-3.7774207908605435,0.18321803898345257,0.0533169291895732,0.7873764056001752,1.808869884876177e-05,0.002962037361184071,0.6164654263716808
222,303,-5.831414696672898,3.758486167736281,0.04990876432695557,0.9666344723007374,-0.005343127639609313,-0.005635215292193509,0.25604197369867354
679,36,-0.7881320427843894,-2.680106550078214,-0.033544277861211835,0.7814994858781381,0.0064697512499225,0.0009537458308010446,0.6238716103974119
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