Distinguish between clouds in a plane extracted with RANSAC

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Distinguish between clouds in a plane extracted with RANSAC

maxdd
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Hello there, im currently using the RANSAC algorithm to extract planes. My problem is that i would like to distinguish between clouds which are part of the same plane, example:

Assume you have two walls at the same distance (along z coord) but you can pass in between, ransac will extract only one plane (since both walls will have the same d and normal orient) and will return a cloud composed by the clouds of the two walls (correct me if im wrong or i can do otherwise).

What i would like to do is to comprehend which are the indexes or which are the boundary of each clouds in that plane, is there a way mantaining the RANSAC algorithm?
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Re: Distinguish between clouds in a plane extracted with RANSAC

james
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If each wall is disconnected you could first segment them using a technique such as Euclidean Cluster Extraction, etc.
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Re: Distinguish between clouds in a plane extracted with RANSAC

maxdd
Is there ant way to retrieve points which have NaN neighborhoods for example?
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Re: Distinguish between clouds in a plane extracted with RANSAC

nizar sallem
Basically those points can be filtered out from pcl::filters but also
those will give you a neighborhood search of only *1* if all their
neighbors are nans.

Cheers,
--
Nizar

On 07/12/2013 10:15, maxdd wrote:

> Is there ant way to retrieve points which have NaN neighborhoods for example?
>
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