Utilizing realsense libraries and PCL to segment and localize cylinders on the desktop. Using Realsense D-series RGB-D camera.
- Capture 45 frames via a moving depth camera
- Convert them into .pcd files
- Below is an example showing the raw PointCloud data
- video:
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Utilizing number of cylinders provided by user in advance to save computation time and enhance accuracy;
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StatisticalFilter can save about 0.02-0.04s and enhance accuracy as well;
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'LeafSize' in voxelization is quite powerful for save computation time;
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RegionGrowing does not work well in my case. Probably because of collections of outliers are hard to remove such that they are all counted into results; =======
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RegionGrowing does not work well in my case. Probably because collections of outliers are hard to remove which are all counted into results;
- video:
