https://github.com/plusk01/pointcloud-plane-segmentation
https://github.com/plusk01/pointcloud-plane-segmentation
Last synced: 11 months ago
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- Host: GitHub
- URL: https://github.com/plusk01/pointcloud-plane-segmentation
- Owner: plusk01
- Created: 2020-10-06T19:30:04.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2021-01-07T02:11:41.000Z (over 5 years ago)
- Last Synced: 2025-07-10T08:08:46.630Z (11 months ago)
- Language: C++
- Size: 896 KB
- Stars: 72
- Watchers: 3
- Forks: 16
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
Point Cloud Plane Segmentation
==============================
This library can be used to extract planar patches from unorganized point clouds. It is a stripped-down version of [**@abnerrjo**](https://github.com/abnerrjo)'s Robust Statistics-based Plane Detection (`rspd`) work published as
> AMC Araújo and MM Oliveira, “A robust statistics approach for plane detection in unorganized point clouds,” Pattern Recognition, 2020.
The original implementation and other details can be found on [GitHub](https://github.com/abnerrjo/PlaneDetection) and their [project page](https://www.inf.ufrgs.br/~oliveira/pubs_files/RE/RE.html).
## Look and Feel
When executed on a raw point cloud with 50k points, `rspd` finds 20 planar patches in approximately 120 ms (i9-7920X, 64GB).
## Build and Run
This library and an example app can be built with the usual
```bash
$ mkdir build && cd build
$ cmake .. && make
```
Using the provided test data, you can run `rspd` on a point cloud with
```bash
$ cd build
$ ./main ../data/blue.pcd
```
### Open3D Dependency
The `master` branch depends on [Open3D](http://www.open3d.org/). If you did not install Open3D system-wide, you will need to provide the `CMAKE_PREFIX_PATH` instead of the `cmake ..` command above
```bash
$ cmake -DCMAKE_PREFIX_PATH=/path/to/Open3D/build/install ..
```
In this case, **Open3D was built from source** after running the `cmake` command
```bash
# Open3D was built from source using
$ cmake -DCMAKE_INSTALL_PREFIX=$(pwd)/install ..
```
## Parameters
| Parameter | Default | Description |
|--------------------------------------|-----------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| `mMinNormalDiff` | 60 degrees | A patch's associated point normals are tested against the patch's estimated normal. If the lower bound of the spread of similarity scores (roughly: 3σ below median) is lower than this, the patch is considered not robust and is thrown out. |
| `mMaxDist` | 75 degrees | A patch's associated points are scored on distance to plane. Smaller values encourage tighter distribution of points around the plane. Also encourages truly planar patches. See Fig 4 of paper. |
| `mOutlierRatio` | 0.75 | Maximum allowable ratio of outlier points in a given patch's associated point set. |
| `minNumPoints` | 30 | Do not subdivide an octree node with less than this number of points |
| `nrNeighbors` (normal estimation) | 75 | Number of neighbors used to estimate the normals of each point. |
| `nrNeighbors` (knn search) | 75 | Number of neighbors used when attempting to grow and merge patches. More neighbors will result in (potentially) fewer output patches at the expense of more runtime. |
| minimum length of longest patch edge | 0.01 * longest dimension of point cloud | In the original code, this parameter is hardcoded. This value is used to detect false positives and may be a valuable knob to tune. Alternatively, area could be used to cull too small planes. |
## Differences with Original Implementation
This implementation only provides the `rspd` functionality for planar patch detection. Additionally, it removes the Qt dependency and uses modern CMake for the build system. The algorithm and default parameters are the same as in [the original](https://github.com/abnerrjo/PlaneDetection).
Although the `master` branch `rspd` library depends on Open3D, the [`rspd-original`](https://github.com/plusk01/pointcloud-plane-segmentation/tree/original-rspd) branch does not (the `rspd` library, though the app used to test / visualize does).