<> <> == Overview == This package provides a method to detect the dominant 3D plane in a scene in real time. It is based on RANSAC and uses disparity images as input. It is an extracted submodule from the package [[active_realtime_segmentation]] in which it was used for detecting the dominant table plane. However, any plane orientation is possible to detect. == Starting the Fast Plane Detector == For detecting the table plane in a disparity image start the following launch file: {{{ roslaunch fast_plane_detection fast_plane_detection_jean.launch }}} which starts a table plane detection node that subscribes to the topic /narrow_stereo_textured/disparity. For detecting the local plane in a region around a specific pixel position, run the following node: {{{ rosrun fast_plane_detection fast_region_plane_detector_jean disparity_in:=/plane_detection/disparity disparity_image_topic:=/narrow_stereo_textured/disparity cam_info_in:=/narrow_stereo_textured/left/camera_info }}} where the remapped topics are the output from the node run by the previous launch file. == Example Results == Here are some example results for planes extracted from the following disparity map in real time. {{attachment:Orig_disp.jpg}} This is the disparity map in which the detected table plane is filtered out. {{attachment:without_table_disp.jpg}} This is the disparity map in which a local plane is detected. {{attachment:masked_disp.jpg}} The table plane and the local plane detected can be visualised in Rviz. {{attachment:Planes.jpg}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage