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refactor plane finder #109
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mikeferguson
commented
Mar 12, 2022
- 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); | ||
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/** | ||
* @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)
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) |