Ground edges selection

[RoudyT]

Hello,

I am trying to select the ground edges directly from the CNN segmentation image. I changed this line in main_3d.cpp: https://github.com/shichaoy/pop_up_slam/blob/237dba5448eaeacc588f2339365774f9247bce3c/pop_planar_slam/src/main_3d.cpp#L424

to: pop_up_obj->get_ground_edges(label_img,label_img);

However, I am getting the following error:

Any idea why this might be happening?

Your help is very much appreciated. Thank you.

[shichaoy]

hi @RoudyT The code assumes the input is rgb image because it will do some image processing like cv::equalizeHist, and line detection, I think they will have some problem on label image though I haven't try. If it doesn't work, you can also implement your own way of ground-wall edge detection.

In terms of the crash, seems it relates to line detection (line_lbd), which is a third party library. I am not sure about the details.