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This work is based on Dr. Chen Feng's AHC algorithm. If you use this work, please check and follow the instruction below.


Fast Plane Extraction Using Agglomerative Hierarchical Clustering (AHC)

Legal Remarks

Copyright 2014 Mitsubishi Electric Research Laboratories All Rights Reserved.

Permission to use, copy and modify this software and its documentation without fee for educational, research and non-profit purposes, is hereby granted, provided that the above copyright notice, this paragraph, and the following three paragraphs appear in all copies.

To request permission to incorporate this software into commercial products contact: Director; Mitsubishi Electric Research Laboratories (MERL); 201 Broadway; Cambridge, MA 02139.

IN NO EVENT SHALL MERL BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF MERL HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.

MERL SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS ON AN "AS IS" BASIS, AND MERL HAS NO OBLIGATIONS TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS.


The difference from original source code is following.

  • Update OpenNI version to 2.2
  • Fix some points to compile successfully
  • Apply to RealSense
  • Add some changes to use in ROS environment

My environment is

  • Ubuntu 16.04.4 LTS
  • Linux Kernel 4.4.0-130-generic
  • GCC 5.4.0
  • PCL 1.8.1
  • OpenCV 2.4.13 or 3.1.0
  • ROS kinetic

Usage for ROS

Move into your catkin workspace,
$ cd PATH_TO_YOUR_WORKSPACE/src

Download realsense package to your workspace if you did not, following here

Download this PEAC package into your workspace

$ catkin_make

Start the realsense node
$ roslaunch realsense2_camera rs_rgbd.launch

Bring up windows
$ rosrun peac plane_fitter_ros input:=/camera/depth_registered/points

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