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ethz-asl / depth_segmentation

A collection of segmentation methods working on depth images
BSD 3-Clause "New" or "Revised" License
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Changed point type to publish estimated normals. #17

Closed NicolajFoerderer closed 6 years ago

NicolajFoerderer commented 7 years ago

Point type was changed to pcl::PointSurfel in order to publish also the estimated normals within the /depth_segmentation/object_segment topic. Surfels were chosen so that we could also publish confidence, curvature and radius, but this feature is not added yet.

Also, we assign the original color to the points. Giving random color is only usefull for showing the whole segmented scene, but not for the topic which publishes the individual segements.

ffurrer commented 6 years ago

@NicolajFoerderer can you address the changes if you haven't done so yet, please?

ffurrer commented 6 years ago

@NicolajFoerderer did you ever finish this?