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pcl_indoorPlaneSegmentation

Some pcl project... =')

Introduction

This PCL perception tool is used to identify target plane for a semi autonomous painting robot. Potential planes within working distance will be identified, then further classifided to their type. The pointcloud will then be stored in a vector of struct for further used. A visualizer is used to visualized the segmentation result.

** For robot motion waypoint generation, please refer to the ros service package below.

Example 1

alt text

Example 2

alt text

Setup and Run

Make by cd .../build, then make -j4

To run the exe files: ./indoor_planar_segmentation "pcd_path.pcd"

To purely visualize Point clouds ./pc_visualizer "pcd_path1.pcd" "optional_pcd_path2.pcd"

PCD Sample files

ALl pcd sample files are located in the .../pcd folder. Corresponded sample images with the pcd files are shown in the same folder.

ROS Service Package

The package here consist of UR5 Waypoints generation for painting robot's motion planning. The points are generated line by by line along the segmented planes, represent in Cartesian space. In this package the WaypointGeneration ros service will send the generated waypoints to moveit to execute the motion planning.

Please Refer to .../ros_pkg_srv folder. Theres a useful readme.md file in it.