How to get the point cloud of detected planes?

NVlabs / planercnn

PlaneRCNN detects and reconstructs piece-wise planar surfaces from a single RGB image

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How to get the point cloud of detected planes? #17

Open LZleejean opened 5 years ago

LZleejean commented 5 years ago

Hi,

The code output masks and plane parameters when evaluate NYU dataset. If I want to get point cloud data (xyz+rgb) from a plane such as the ground, do I need to calculate the point cloud based on the predicted plane parameters and depth map? Is there such a function or similar function in the code you provide?

Thank you！

art-programmer commented 5 years ago

If you want to write the point cloud to PLY files, you can check the code here, https://github.com/NVlabs/planercnn/blob/469f9bbc9602211724c56afb67a15692e11ca300/visualize_utils.py#L326

Or if you only want to get the XYZ coordinates, you might want to use this function, https://github.com/NVlabs/planercnn/blob/469f9bbc9602211724c56afb67a15692e11ca300/models/modules.py#L198