3d Model Detection Pipeline

[lufixSch]

Create modelDetection pipeline which takes a point cloud and returns all useful 3d models for displaying the room

[lufixSch]

First results of complete object detection.

Results for kicker are pretty good but for the delivery area the results are mixed. The main problem is the high amount of points which are part of the ceiling. At the moment we are not able to filter those points correctly.

Kicker:

Delivery Area

[lufixSch]

Next steps:

• [x] improve ceiling detection/filtering
• [x] rotate coordinate system depending on the ground plane (or change cuboid rotation)

[lufixSch]

Changed parameters to be relative calculation depending on parameters of the point cloud.

Results for Kicker and Delivery Area are both good using the same settings.

[lufixSch]

Added Rotation depending on the ground plane as final touch