PCL for depth data: Background subtaction and 3d modelling

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PCL for depth data: Background subtaction and 3d modelling

Median
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Hello everyone.

Im developing a project in which I have a 3d-sensor (like kinect) pointing downwards into a surface. I am detecting finger blobs within a certain depth interval. My problem is that the lower end of this interval cannot be adjacent to the surface, because that originates lots of noise in the surface area. To avoid this, I have to set the lower interval a little higher, compromising the touch sensation, since it validates a touch when the finger is about 1cm above the surface.

I've read a bit about PCL, and I wanted to ask you guys if you think I can use it to help me in that task. If I was able to roubstly remove background, I would eliminate this noise and then be able to set my threshold plane near the surface. Also, if I could create a 3d model of the hand with the depth data, I could always have access to the fingertip's coordinates.
The image I added to this post attempts to illustrate what I am talking about
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Re: PCL for depth data: Background subtaction and 3d modelling

VictorLamoine
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Hello,

You should take a look at : http://pointclouds.org/documentation/tutorials/#filtering-tutorial
Did you try these ?
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Re: PCL for depth data: Background subtaction and 3d modelling

Median
This post has NOT been accepted by the mailing list yet.
I have not, but I just found out about PCL and I am still learning about its potential. I'll give a look at it, thanks!