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# Transform point cloud to world framedeftransform_pointcloud(point_cloud):
""" @brief Transform point_cloud to world frame @param point_cloud (list): list of point_cloud @return point_cloud (list): list of point_cloud """point_cloud=np.array(point_cloud)
foriinrange(len(point_cloud)):
point_cloud[i] =point_cloud[i].dot(w_R_c.T) +x_c+base_offsetlog.debug('point_cloud transformed')
returnpoint_cloud
Cleaning point cloud
Point cloud taken from ZED camera is included the point cloud of the surface of the table, as it extracts every pixels of the 2D bounding box.
The point is to filter all the point cloud that belong to the object, not the surface of the table.
Tasks:
Testing transformation to world frame on a single object
Testing clean point cloud for one object
Implement general method for transformation between frames
Implement general method for cleaning all point cloud
The text was updated successfully, but these errors were encountered:
Transformation
Point cloud taken from ZED camera is based on the camera's frame.
We need to transform every point cloud to world's frame as it is the base frame.
Current transformation from camera's frame to world's frame:
Cleaning point cloud
Point cloud taken from ZED camera is included the point cloud of the surface of the table, as it extracts every pixels of the 2D bounding box.
The point is to filter all the point cloud that belong to the object, not the surface of the table.
Tasks:
The text was updated successfully, but these errors were encountered: