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I have a point cloud of floor and wall. When i did segmentation with plane normals, it gave me plane of the wall instead of the floor as intended. However, when i changed the k search number of kd tree, it gives me the plane of the floor.
My question is 'is there anyway to specify which plane I want to segment?' also' I dont quite understand kd tree search. Please help
The solution proposed by Stefan suppose your cloud is expressed in a frame where Z points upwards. If the point cloud is expressed in the camera frame, there is no easy way to make the difference between the floor and a wall without more assumptions. If your camera is pointing to the floor you could choose the plan intersecting the optical axis (Z camera axis).
You can for example use sample_consensus_model_perpendicular_plane. This allows specifying a normal for the plane that is fitted to the cloud. If you specify a (0, 0, 1) normal (i.e. one for a ideal floor plane), your segmentation should give you a fit for the floor. Do not forget to set the angle tolerance as noted in the link.
It's of course important to set the normal correctly. If your cloud is given in camera frame, you'll have to either transform it or the normal to be consistent with each other.
The cloud should have a header field that contains the used frame_id.
Asked: 2015-04-06 23:28:49 -0500
Seen: 1,754 times
Last updated: Apr 07 '15
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