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Is there some filter in PCL to segment kinect point cloud based on color?

asked 2011-11-06 21:23:29 -0500

toniOliver gravatar image

updated 2016-10-24 09:03:03 -0500

ngrennan gravatar image

Hi. Is there some filter that allows to segment a kinect point cloud based on the rbg color of the points?

I've tried with a passthrough filter but it doesn't work with rgb, only with position. I've also found this answer explaining why.

Thanks in advance

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answered 2011-11-07 08:11:30 -0500

Mac gravatar image

As of a recent version of PCL (maybe 1.1?), there should now be .r, .g, and .b fields in a PointXYZRGB, so it should be possible to do this.

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Are you sure that is correct? From the PCL API, rgb values seem to be combined into a single field

mortonjt gravatar image mortonjt  ( 2013-05-18 10:41:21 -0500 )edit

Scratch that. .r , .g , .b can be individually accessed in PCL 1.1.0. However, I don't think this will help with the passthrough filter

mortonjt gravatar image mortonjt  ( 2013-05-18 10:55:03 -0500 )edit

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Asked: 2011-11-06 21:23:29 -0500

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Last updated: Nov 07 '11