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Decomposing objects into their structural components in pcl

asked 2011-02-24 08:45:46 -0500

updated 2014-01-28 17:09:13 -0500

ngrennan gravatar image

Hey guys,

Do you know any pcl example or source code that does decompose objects into their components by using any kind of a method?

I know that there are SAC based segmentation methods that does primitive shape fitting but I don't think they are able to extract mug handles or other similar sub-components. Well you can get the handle after extracting the cylinder-like mug component, but I need sth that is able cluster other smaller parts also.

I need this just for visualization purposes, it is not required to run online/real time, it is adequate to be able to work on stationary scenes/inputs.


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answered 2011-03-02 19:19:08 -0500

pbrook gravatar image

I am not an expert in 3D segmentation, so if somebody is then please correct me if I am wrong, but I believe that the problem of segmenting an object point cloud into different parts is still an open research question. I don't think there is anything built in to PCL which can perform this.

Some people are working on this problem (using radial reflection or bounding volume hierarchies for example), but I don't see any released code.

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Asked: 2011-02-24 08:45:46 -0500

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Last updated: Mar 02 '11