Plane_Detection_RGBD

Plane detection using single RGBD image with RANSAC

Hardware

• realsense d415

Dependencies

• Python 3
• numpy
• matplotlib
• pickle
• cv2
• PIL
• ros
• pyrealsense

Quick start

# starting record videos
cd get_imgs_from_camera
python3 record_camera.py

# extract images from recorded file
mkdir depth
mkdir rgb
python3 generate_rbgdepth_imgs.py

# segmenting the plane in the refered image
cd ..
python3 main.py -rgb /DIR/TO/RBG/IMAGE -depth /DIR/TO/DEPTH/IMAGE

# segmented result will be saved in file "output.ply", which can be viewed by meshlab

Demo

python3 main.py -rgb demo/rgb.png -depth demo/depth.png

PS : The rgb image and the depth image in the demo file do not match strictly...