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Point cloud process beginner

This is a Point cloud process examples for the newcomers.

Created by ou.

Dependence

This code is tested on ubuntu 18.04 and ROS melodic.

  • The dependence of in code open3d_plane_detection.py are Python 2.7 and Open3D 0.9.
  • For the pcl_plane_detection package is C++ and PCL.

Usage

First, clone this repository to our local environment:

$ git clone https://github.com/ou-ais/point_cloud_process_beginner.git

Then, play the rosbag file to enable the topic of the point cloud:

$ roscore
$ rosbag play -l bagfile.bag

After that, you can check the visualization of the point cloud by rviz:

$ rviz

To view the point cloud, you should press the Add button, then By Topic and select the '/points2' topics, finally do not forget to change the fixed frame to 'camera_base'.

You may see the interface like this: rviz

Using Open3D

If you use the python with open3d, you can run the script by typing:

$ python Plane_detection.py 1.0 0.01

You may get the result of plane detection like this: plane The green part represents the plane component in the scene point cloud. (In real world, it is the wall) See the detail of parameters in the code and try to adjust them to observe change of the result.

Using PCL

If you use the c++ with PCL, you should firstly put the pcl_plane_detection package in your workspace:

$ cp -r pcl_plane_detection /your_workspace/src/
$ catkin build pcl_plane_detection
$ source ./devel/setup.bash
$ rosrun pcl_plane_detection pcl_plane_detection 1.5 0.01

Then, go back to the rviz, and press Add -> By Topic -> add the '/Plane_region' to the rviz interface. The result will be like this: plane Again, you can adjust the two parameters and see the change of the detection result.