Measuring distance / object size

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Measuring distance / object size

Tim.Ho

Hi,

 

I got a pcd file converted from LAS format, and successfully visualised the pcd file using pcl_viewer (see attached screen capture of a portion of the viewer output; basically some trees).

 

There are 10646584 data points in total (according to liblas’s lasinfo command) and there are a couple of things I would like to do (and I hope PCL can help):

-          Measure the size of the tree branches / stems by selecting two data points on the screen, and

-          Identify each tree from the pcd file, and export the point data for each tree into separate pcd files.

 

Can the above be done using PCL? I would greatly appreciate if you can suggest some pointers / tutorials. Thanks.


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Re: Measuring distance / object size

VictorLamoine
Administrator
Hello,

Yes this could be done in PCL, take a look at the segmentation tutorials :
http://www.pointclouds.org/documentation/tutorials/#segmentation-tutorial

As for the measurement, you could use Euclidian clustering and measure the convex hull of the clusters (take a look at the tutorials).

Bye
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Re: Measuring distance / object size

Tanaji_Kamble
Dear Victor,
Let me know please how to measure actual distance between two points using Kinect Sensor. I am able visualize point cloud using Kinect grabber and pc visualizer class but m unable to find real distance between voxels.
Tanaji Kamble
Center of Excellence in Signal & Image Processing,
COEP Pune.
E-mail : tanajikamble13@gmail.com
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Re: Measuring distance / object size

james
Administrator
distance between two points is simply:
pcl::euclideanDistance(point1, point2);

You can use PCL Visualiser's pointPickEventOccurred for point picking
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Re: Measuring distance / object size

Tanaji_Kamble
Thanks James,
I will try it...
Tanaji Kamble
Center of Excellence in Signal & Image Processing,
COEP Pune.
E-mail : tanajikamble13@gmail.com