Open mikeferguson opened 6 years ago
A first pass of this is in https://github.com/mikeferguson/robot_calibration/pull/109 - where we at least find the plane and only sample from points in that plane - this really only works when > 75-80% of the frame is the plane of interest
Right now, the plane finder assumes that all visible points, that are within the bounding box, are part of the plane. This works fine for things like "robot views the ground" -- but if anything else enters the frame, it's problematic. It also doesn't let us handle frames with other items/clutter in them, or do more interesting things like find the face plane of the gripper (which has long been something I've wanted to be able to do).
Proposed improvements to PlaneFinder: