Single Plane Estimator

This package estimates the equation of a single plane from a given .pcd pointcloud file.

The outputs are a normal pointing from a given camera distance towards the plane, a coordinate frame attached to the plane, and a cuboid representing a camera view such that the coordinate frame always appears with +Y axis as "up".

Full dataset for objects to test on can be found here

To run -

1. Clone, cd into folder, do chmod +x *.sh

2. ./dockerbuild.sh - single script to build docker container, package and binaries. \n Alternatively use ./pull_docker.sh to get the pre-built docker image from DockerHub.

3. ./run_docker.sh to open docker, be able to calculate planes for different .pcd files

4. ./build_cpp.sh to build the code.

5. calculate_plane.sh - single script to run and visualize plane calculation on sample PCD file with a single sparse plane. Append flags -v to enable visualization, -d to enable debug prints.

6. (optional) run_tests.sh to run unit tests.

Note : Due to OpenGL incompatibility with docker, pcl_viewer won't run inside docker - no visualization for plane inside docker.

For on-host plane visualization, optionally git checkout test, run deps.sh to install dependencies in host, build_cpp.sh to build package, then calculate_plane.sh.

Updated 2024-02-23 : This would require a linux host - visualization is currently not functional on MacOS M1 (arm64) docker host machines.

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Sample output planes