Created
August 7, 2013 07:46
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Object segmentation PCL
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// Segment planes | |
pcl::OrganizedMultiPlaneSegmentation< PointT, pcl::Normal, pcl::Label > mps; | |
mps.setMinInliers (10000); | |
mps.setAngularThreshold (0.017453 * 2.0); // 2 degrees | |
mps.setDistanceThreshold (0.02); // 2cm | |
mps.setInputNormals (normal_cloud); | |
mps.setInputCloud (cloud); | |
std::vector< pcl::PlanarRegion< PointT > > regions; | |
mps.segmentAndRefine (regions); | |
for (size_t i = 0; i < regions.size (); i++) | |
{ | |
Eigen::Vector3f centroid = regions[i].getCentroid (); | |
Eigen::Vector4f model = regions[i].getCoefficients (); | |
pcl::PointCloud boundary_cloud; | |
boundary_cloud.points = regions[i].getContour (); | |
printf ("Centroid: (%f, %f, %f)\n Coefficients: (%f, %f, %f, %f)\n Inliers: %d\n", | |
centroid[0], centroid[1], centroid[2], | |
model[0], model[1], model[2], model[3], | |
boundary_cloud.points.size ()); | |
} |
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