Three-dimensional point cloud learning (9) 5-Realize RANSAC Registration-batch output of results

Three-dimensional point cloud learning (9) 5-Realize RANSAC Registration-batch output of results

Due to limited personal ability in this chapter, most of the code is taken from the code of github god

Batch processing point cloud registration

Just modify the 3D point cloud learning (9) 5-realize the main.py part of the RANSAC Registration registration .

    ##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
    )

Output result 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
165,287,5.339061018459783,-4.105803880303181,-0.06069290510160996,0.73935859622454,0.012946778302288114,-0.03437942714126628,0.6723089335342104
663,288,2.334601487424865,-1.5292741034269095,-0.013983162761558532,-0.38442067607349895,-0.0022190466345599702,0.004281441365513712,0.9231454321498109
165,289,-13.902736243758078,5.163261155290379,0.016894791302124568,0.9994755761716732,0.0274215985225026,-0.016482611403121093,0.0049952069132644765
664,20,3.996535096917129,6.59210588899364,-0.01289004177040387,0.4253878595318103,-0.000737484535089324,-0.0022482954164201323,0.9050080498245449
20,290,-4.535798614814597,14.214273123106068,0.06514815589748801,-0.3062299963211571,-0.0012563635906842198,0.00648375264059709,0.9519346468405105
207,290,6.399728361162019,-9.000898677401931,0.10191878985494496,0.8911842031775943,0.0012854493872940344,0.001987117156313706,0.4536354428304696
290,477,0.04857532899149497,-2.6652210907384837,0.020583397919206492,-0.3793783703465307,0.0038268169571687174,0.00790947390458903,0.9251998961347432
208,291,5.341910337025602,-9.22363026274131,0.15440970380595642,0.7293597543875905,-0.0017817639439806695,0.002031376825350652,-0.6841250232999191
23,478,1.2764619598628,-2.168420496664945,-0.009261591413865178,-0.6106079613011083,-0.00012198964263000822,0.0027698512701321157,0.7919281726508867
211,292,-0.265526697309022,-2.674670572350546,0.014335514182768128,0.9992764735129843,-0.007858891995311888,0.002189281622969019,0.0371480059496508
669,26,-0.0030556342854497487,1.2147291993029157,-0.08286176072208606,0.7682303590159298,-0.0037638701328224157,-0.007357817662094244,-0.6401201537892164
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
29,296,6.591668904584929,15.153982438591747,0.17160067666142442,0.7863580687310121,0.005907723894516761,0.00028269062011180136,-0.617742670232543
297,484,0.38616290186951474,-0.3216469976857622,-0.17584675963707164,-0.5371795222027733,0.0037901779346829027,-0.003469396639746953,0.8434522860032924
673,301,-10.848076292812573,2.6301079880328633,0.37433971957180723,-0.044515229741130063,0.010119709607472925,0.018891281271573423,0.9987788069890515
30,300,6.395096796287791,4.087330424873639,0.08886416221952387,-0.15025033108926858,0.017216913892754093,-0.008020657233204635,0.9884655203602816
31,299,-1.441250125079353,3.5422378316678724,0.15891160213148736,-0.059478825794881694,-0.00841510002209973,0.01820547522412008,0.9980280637564979
32,298,6.007564513682988,2.796690026175107,0.18756187486621956,0.9823549383436165,-0.02000217151268395,-0.004094766493119466,-0.18590836757406462
216,300,-3.822090865013015,5.966095934955689,0.1608593277895718,-0.6872651929121494,0.002719270841452814,0.0107902494499848,0.7263213687441145
217,485,-2.563005972690914,-5.464388824751263,0.008722338483214465,0.917968376408711,-0.003101408236328424,-0.006444401099330928,-0.3965890957590459
218,487,-3.1913992163400366,-1.6008625981823967,-0.03024627353073117,0.9898315049058786,-0.007105591763357873,0.0024689378657662105,0.14204579123392233
300,485,7.074015332473268,6.218878213578376,-0.32864564776697014,0.5484131786807764,0.010071094297270997,0.005557271552999175,0.8361283844253755
674,33,-9.643575084307962,-4.778840443761078,7.218520152862493,0.19334377574405776,0.8153066027693077,-0.24515673459483206,0.4876387016476451
674,302,-7.527033425846886,-0.4619595700811825,0.32876130583315244,0.9997363035902355,-0.0191422006717431,0.0061374401143087015,0.011100957887431297
31,303,-4.987565420484023,-7.762169391955885,0.3411682740473463,0.9806541854879428,-0.014266446835347175,-0.00605811522636915,0.19513363682250628
33,219,-0.9614997996814032,2.4036037444258804,-0.08699243203222284,0.7658818775353596,-0.016101196080919557,0.010452194060647773,0.6426946808454188
33,488,3.408585037026939,0.5449577562200956,0.052794638295422525,0.8871329186977567,-0.007402889466079128,-0.00805747640480189,-0.46138428545447707
34,302,-2.7669842321907088,-0.5424857176976653,0.09938055923333922,0.620095471132594,-0.014606095632978697,-0.013166313209171462,0.7842798715048632
218,303,0.5913019187121622,9.957885443930117,-0.005876701192029099,-0.23790168600584882,0.007111348655556805,-0.004987957379419904,0.9712503986084406
219,489,-4.023801537352971,-5.730852780480059,-0.028087842691784992,0.8737516401826472,-0.001282223939906472,-0.004766402259676841,0.4863473127194195
221,299,1.6911999587234368,-10.069099162584983,0.3588102939718114,0.948885740517402,-0.0013971254274505619,0.010407122127724924,0.315445068581362
300,489,12.392007881749695,-11.439614893164823,-0.8498920309924051,-0.0008334269393545646,0.020600549436727334,-0.005774863387165069,0.9997707605822954
675,32,1.7792962155069743,1.9182189957718463,-0.03814173071284355,0.3418371360233347,-0.007212142514524712,0.0020333549629626417,0.9397293349168733
675,487,-3.436044735499366,2.8347501203582297,-0.2531722585892653,0.9051361244853329,0.00840136580776309,-0.014489439633065385,-0.4247917952872394
676,489,2.388878960229525,6.645562721288231,0.15322860885875444,-0.5467558719088697,-0.00702306689517848,0.0008379441285827849,0.8372621996209999
678,36,-4.086761998632517,-7.292487819522801,0.014911956491746148,0.8026443373647587,0.0076718087850094294,0.002033835034077855,0.5964051262030766
33,490,9.680145947191734,-7.145711164159951,0.398809176327791,-0.6590726565911883,-0.003502996807008321,-0.001048250720660304,0.7520703846832624
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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