Skip to content

Latest commit

 

History

History
29 lines (23 loc) · 999 Bytes

README.md

File metadata and controls

29 lines (23 loc) · 999 Bytes

Plane Seg

Plane Seg PointNet2 is a library for fitting planes to noisy depth camera data. It is developed based on (https://github.com/ori-drs/plane_seg). The main idea is to use PointNet2 for plane points classification, and then cluster the plane points to planes.

Using It

python env: This package requires python 3.7.

conda env create -f cupy.yml

Run-Time Application: A sample application can be run and visualized in Rviz as follows:

conda activate cupy
source /opt/ros/noetic/setup.bash
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
catkin_make -DPYTHON_EXECUTABLE=/home/minghan/anaconda3/envs/cupy/bin/python
catkin_make -DPYTHON_EXECUTABLE=/home/minghan/mambaforge/envs/cupy/bin/python
source devel/setup.bash 
roslaunch plane_seg_ros view_plane_seg.launch

Test program: reads example point clouds (PCDs), processes them and executes the fitting algorithm:

conda activate cupy
source devel/setup.bash 
roslaunch plane_seg_ros test.launch