About "real-time plane segmentatioin using rgb-d cameras"

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About "real-time plane segmentatioin using rgb-d cameras"

nvdung
Hello,
I am reading a paper, "real-time plane segmentatioin using rgb-d cameras" by Holz et al.
I am interested in the fast plane detection algorithm.
Specifically, I implemented the algorithm by myself to understand but
was stuck on how to merge multiple clusters.
 
I wonder that is algorithm available in PCL library?
I saw the functions to compute normal vectors using integral image,
but didn't see other parts.
Thank you in advance.


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Re: About "real-time plane segmentatioin using rgb-d cameras"

Radu B. Rusu
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http://www.pointclouds.org/news/new-object-segmentation-algorithms.html

Cheers,
Radu.
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On 11/29/2012 11:40 PM, nvdung wrote:

> Hello,
> I am reading a paper, "real-time plane segmentatioin using rgb-d cameras" by
> Holz et al.
> I am interested in the fast plane detection algorithm.
> Specifically, I implemented the algorithm by myself to understand but
> was stuck on how to merge multiple clusters.
>
> I wonder that is algorithm available in PCL library?
> I saw the functions to compute normal vectors using integral image,
> but didn't see other parts.
> Thank you in advance.
>
>
>
>
>
>
> --
> View this message in context: http://www.pcl-users.org/About-real-time-plane-segmentatioin-using-rgb-d-cameras-tp4024241.html
> Sent from the Point Cloud Library (PCL) Users mailing list mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users
>
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Re: About "real-time plane segmentatioin using rgb-d cameras"

nvdung
thank you very much for quick reply.
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Re: About "real-time plane segmentatioin using rgb-d cameras"

jotauve
Hello everyone,

I'm confused about the line:

std::vector > regions;

Of the link Radu gave. I don't know that syntax. What does it do? Is it standard or is an operator overloading?

Thank you very much!
http://www.sgpsproject.org http://www.javiervgomez.com
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Re: About "real-time plane segmentatioin using rgb-d cameras"

Sergey
Administrator
Hi jotauve,

It is probably too late to answer, but just for the sake of completeness, the code in the article is of course not a valid C++ code, and the line that confused you should rather be:

    std::vector<pcl::PlanarRegion<PointT>, Eigen::aligned_allocator<pcl::PlanarRegion<PointT> > > regions;

where PointT is your desired point type, e.g. pcl::PointXYZRGBA.

Regards,
Sergey
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Re: About "real-time plane segmentatioin using rgb-d cameras"

jotauve
Dear Sergery,

Thank you for your reply, and don't worry I was just curious about the code.
http://www.sgpsproject.org http://www.javiervgomez.com
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Re: About "real-time plane segmentatioin using rgb-d cameras"

navderm
In reply to this post by nvdung
Hi All,
I got to know that this part of the code is available in pcl. Which library is it exactly in ?
There are a lot of segmentation libraries and a search doesn't yet much information.

thx.
nj
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Re: About "real-time plane segmentatioin using rgb-d cameras"

Sergey
Administrator
Hi,

Check the article menioned earlier in this thread by Radu, it has all the information you need to start with the plane segmentation class. The link is broken though, here is a working one: http://pointclouds.org/news/2012/04/03/new-object-segmentation-algorithms/

Regards,
Sergey
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Re: About "real-time plane segmentatioin using rgb-d cameras"

Isaac
Hello, by pure chance there will be the complete code of real-time plan
detection



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Re: About "real-time plane segmentatioin using rgb-d cameras"

Fabien Rozar
In fact the real time depends on the size of the input point cloud.

How big are the point clouds you handle ?

frozar

2018-03-01 19:51 GMT+01:00 Isaac <[hidden email]>:
Hello, by pure chance there will be the complete code of real-time plan
detection



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Re: About "real-time plane segmentatioin using rgb-d cameras"

Isaac
262189 points but I have already reduced them with a voxel filter to 3894 points

2018-03-02 3:22 GMT-06:00 Fabien Rozar <[hidden email]>:
In fact the real time depends on the size of the input point cloud.

How big are the point clouds you handle ?

frozar

2018-03-01 19:51 GMT+01:00 Isaac <[hidden email]>:
Hello, by pure chance there will be the complete code of real-time plan
detection



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Re: About "real-time plane segmentatioin using rgb-d cameras"

intoxica
I dont't know if a complete code is available but you can do that by using
the real-time streaming of the point cloud  and the organized plane
segmentation, the tutorials of both are present. You have to merge them to
work such that for every frame it calculates the Organized plane
segmentation. It should work fine with 640*480 resolution as well, could be
lesser fps though.



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