Implementation with ZED Camera about peac HOT 3 CLOSED

Hi, You should first figure out how to get the depth image from ZED, and then how to convert the depth image into an organized point cloud which should be organized as a 3xHxW sized tensor (or HxWx3). Then you can save the organized point cloud as a *.pcd file. And then you can use https://github.com/ai4ce/peac/blob/master/cpp/plane_fitter_pcd.cpp to process your pcd file to extract planes.

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Thank you for your response. However, when I ran the pcd file I saved from the camera, it said it failed to load the file. Do I need to save it as .xyz file and then convert it into pcd file or change any of the parameters?

mmvc@mmvc-Alienware-13-R3:~/peac/cpp/build$ ./plane_fitter_pcd
[iniLoad] list=>/home/mmvc/peac/cpp/build/data/test.pcd
[iniLoad] ignore line:
[iniLoad] outputDir=>/home/mmvc/peac/cpp/build/data/output
[iniLoad] loop=>1
[iniLoad] debug=>0
[iniLoad] ignore line:
[iniLoad] unitScaleFactor=>1000
[iniLoad] ignore line:
[iniLoad] showWindow=>1
[iniLoad] ignore line:
[iniLoad] stdTol_merge=>8
[iniLoad] stdTol_init=>5
[iniLoad] depthSigma=>1.6e-6
[iniLoad] ignore line:
[iniLoad] z_near=>500
[iniLoad] z_far=>4000
[iniLoad] angleDegree_near=>15
[iniLoad] angleDegree_far=>90
[iniLoad] similarityDegreeTh_merge=>60
[iniLoad] similarityDegreeTh_refine=>30
[iniLoad] ignore line:
[iniLoad] depthAlpha=>0.04
[iniLoad] depthChangeTol=>0.02
[iniLoad] ignore line:
[iniLoad] initType=>1
[iniLoad] ignore line:
[iniLoad] minSupport=>3000
[iniLoad] ignore line:
[iniLoad] windowWidth=>10
[iniLoad] windowHeight=>10
[iniLoad] ignore line:
[iniLoad] doRefine=>1
create:/home/mmvc/peac/cpp/build/data/output
'.cl::PCDReader::readHeader] Could not find file '/home/mmvc/peac/cpp/build/data/test.pcd
fail to load: /home/mmvc/peac/cpp/build/data/test.pcd
'.cl::PCDReader::readHeader] Could not find file '/home/mmvc/peac/cpp/build/data/test.pcd
fail to load: /home/mmvc/peac/cpp/build/data/test.pcd

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Also if I want to extract the planes in real time, do I use plane_fitter.cpp? Thanks!

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