[JdeRobot] Detect planes with pcl

[Juan Navarro Bosgos]

Hi, Rebeca,

I do not see where you pass the 'cloud' variable to 'detectPlanes'
function, is a global variable?

Anyway, is it necessary that you use the PCL library? Because in my
component mapper3Drgbd [1], I use RANSAC to detect and extract planes from
a point cloud; it may be helpful for your case. If you need more details,
write me an email.

Best regards,
Juan

[1]
http://svn.jderobot.org/users/jnbosgos/pfc-teleco/trunk/components/mapper3Drgbd/

2015-05-02 23:10 GMT+02:00 rsaezd <rebeca.92.saez en gmail.com>:

> Hi,
>
> I'm trying to detect planes in my cloud of points with PCL.
> I am using the following code to the official documentation of PCL:
> *
> void Gui::detectPlanes(Mat imageColor, Mat imageD){
>     PointCloudT::Ptr output(new PointCloudT);
>     pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients);
>     pcl::PointIndices::Ptr inliers (new pcl::PointIndices);
>     pcl::ExtractIndices<pcl::PointXYZRGBA> indice_extractor;
>     //Create the segmentation object
>     pcl::SACSegmentation<pcl::PointXYZRGBA> seg;
>     seg.setOptimizeCoefficients(true);
>     seg.setModelType(pcl::SACMODEL_PLANE);
>     seg.setMethodType(pcl::SAC_RANSAC);
>     int size= imageD.cols * imageD.rows;
>     seg.setMaxIterations(size);
>     seg.setDistanceThreshold(0.01);
>
>     int i = 0, nr_points = (int) cloud->points.size();
>     //While 30% of the original cloud is still there
>     while (cloud->points.size () > 0.3 * nr_points){
>          //Segment the largest planar component from the remaining cloud
>         seg.setInputCloud(cloud);
>         seg.segment(*inliers, *coefficients);
>         //Extract the inliers
>         indice_extractor.setInputCloud(cloud);
>         indice_extractor.setIndices(inliers);
>         //Create the filtering object
>         indice_extractor.setNegative (true);
>         indice_extractor.filter (*output);
>         cloud.swap (output);
>         i++;
>     }
>
>     viewer->updatePointCloud(output, "cloud");
>     qvtkWidget->update();
> }*
>
> But when I run my program, I do not visualize the segmented point cloud.
> Also, my program hangs.
> I looked documentation and several examples, but don't understand how I can
> do this,
>
> Can someone help me?
>
> Thanks and regards
>
>
>
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