Point Cloud Tabletop Object Segmentation and Projection

This software uses Point Cloud Library (PCL) to filter a point cloud of objects on a tabletop. The goal is to segment the object from the tabletop and project to object's points onto the removed tabletop.

Operating System: Ubuntu 16.04 PCL Version: 1.8

Point Cloud data sets are zipped in dataSets.zip, so first unzip this: unzip dataSets.zip

To compile: cd Point-Cloud-Ground-Segmentation/src/ mkdir build/ cd build/ CMake make

The executable is located in Point-Cloud-Ground-Segmentation/src/build/planar_segmentation To run from the build directory: ./planar_segmentation ../../dataSets/[Point Cloud of Objects on Tabletop].pcd Do not run on *_obj.pcd or *_proj.pcd as these are the outputs of the software.

Inputs: learn0.pcd learn22.pcd test18.pcd table_scene_mug_stereo_textured.pcd

Outputs: Outputs are saved in dataSets/ *_obj.pcd: Isolated object after tabletop Point Cloud is removed. *_proj.pcd: Projection of isolated object onto plane defined by the tabletop.