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refactor plane finder #109

Merged
merged 3 commits into from
Mar 14, 2022
Merged

refactor plane finder #109

merged 3 commits into from
Mar 14, 2022

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mikeferguson
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  • break up the find() function so that it is more re-usable
  • change points_max parameter to an integer rather than double
  • actually find the plane rather than just assuming everything is part of the plane

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nicee. Is there an advantage to using SVD vs something like RANSAC for the plane fitting?

// Create a point cloud for the plane
sensor_msgs::PointCloud2 plane_cloud;
plane_cloud.width = 0;
plane_cloud.height = 0;
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these 2 lines are redundant since uint32 inits to 0 anyway

double min_x, double max_x, double min_y, double max_y, double min_z, double max_z);

/**
* @brief Extract a plane from the point cloud
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maybe mention that this also modifies the input cloud by removing all points that are found in the plane

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Good call, will add to the next pr (which adds the robot_filter derived from this)

@mikeferguson
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Is there an advantage to using SVD vs something like RANSAC for the plane fitting?

It was faster to implement? There is a ticket (#44) about finding planes in arbitrarily complex scenes but for now I just wanted the ground plane to be found a bit more reliably (since not every point is in the ground plane, although most will be)

@mikeferguson mikeferguson merged commit 915e2ee into ros1 Mar 14, 2022
@mikeferguson mikeferguson deleted the plane_finder branch March 14, 2022 23:53
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2 participants