Make new 3D line using my PCD file

[name8997]

hello,
thank you for sharing such a nice code in advance
it's working well in my laptop

So i tried to make 3D line using my PCD file, but there are something strange things.

I tested your corrider 3D data(realsense/corridors/pt.ply) to extract 3D line using 3DLinedetection
And i compare the result with line_3d.txt

But they are not same. my result file has 107288 lines but your line_3d file has only 1547 lines.
So i want to know how you did pre-postprocessing.
I think my data has many duplication, so i can do non-max suppression and so on....

i attach my result

• My Result
  -2.269372 -15.474337 251.362315 196 217 210 0
  -2.265443 -15.469653 251.362327 196 217 210 0
  -2.261515 -15.464969 251.362339 196 217 210 0
  -2.257587 -15.460285 251.362351 196 217 210 0
  -2.253659 -15.455601 251.362362 196 217 210 0
  -2.249731 -15.450917 251.362374 196 217 210 0
  -2.245803 -15.446233 251.362386 196 217 210 0
  -2.241874 -15.441549 251.362397 196 217 210 0
  -2.237946 -15.436865 251.362409 196 217 210 0
  -2.234018 -15.432180 251.362421 196 217 210 0
  -2.230090 -15.427496 251.362433 196 217 210 0
  -2.226162 -15.422812 251.362444 196 217 210 0
  -2.222234 -15.418128 251.362456 196 217 210 0
  -2.218305 -15.413444 251.362468 196 217 210 0
  -2.214377 -15.408760 251.362479 196 217 210 0
  -2.210449 -15.404076 251.362491 196 217 210 0
  -2.206521 -15.399392 251.362503 196 217 210 0
  -2.202593 -15.394708 251.362514 196 217 210 0
  -2.198664 -15.390024 251.362526 196 217 210 0
  -2.194736 -15.385340 251.362538 196 217 210 0
  -2.190808 -15.380655 251.362550 196 217 210 0
  -2.186880 -15.375971 251.362561 196 217 210 0
  -2.182952 -15.371287 251.362573 196 217 210 0
  -2.179024 -15.366603 251.362585 196 217 210 0
  -2.175095 -15.361919 251.362596 196 217 210 0
  -2.171167 -15.357235 251.362608 196 217 210 0
  -2.167239 -15.352551 251.362620 196 217 210 0
  -2.163311 -15.347867 251.362632 196 217 210 0
  -2.159383 -15.343183 251.362643 196 217 210 0
  -2.155455 -15.338499 251.362655 196 217 210 0
  -2.151526 -15.333815 251.362667 196 217 210 0
  -2.147598 -15.329130 251.362678 196 217 210 0
  -2.143670 -15.324446 251.362690 196 217 210 0
  -2.139742 -15.319762 251.362702 196 217 210 0

• Your result
  0.493669 -12.282990 251.347038 25.880636 18.039538 251.427500
  -13.249721 -3.070677 251.690170 -4.651317 7.379036 251.719153
  -13.236900 -3.065931 249.059601 -5.387426 6.494178 249.084270
  32.659811 14.967496 251.431842 23.567842 22.555168 251.409778
  -4.626339 7.392640 251.719173 2.927301 1.081606 251.684936
  15.363422 5.477589 248.769074 9.352058 -1.702463 248.750532
  32.220671 12.794033 248.799986 25.903300 18.060125 248.790568
  32.201525 12.794869 251.437508 25.933347 18.010262 251.424586
  3.036979 -9.234675 248.712129 8.664494 -2.475843 248.731250
  1.614337 2.175959 248.775193 -4.384405 7.198057 249.149239
  -10.514230 -2.758176 249.054901 -4.890240 -7.452591 249.021707
  -6.397550 -6.185118 251.347417 -0.902616 -10.761237 251.348264
  -6.227583 -8.947675 249.018093 -13.226412 -3.110792 249.059380
  -7.696255 -7.751772 251.658654 -13.262737 -3.112822 251.668390
  -0.912459 -10.744618 248.728897 -5.844963 -6.637974 249.067103
  -10.512938 -2.766236 251.687751 -6.394297 -6.212428 251.669063
  19.772710 10.744101 248.783873 16.029082 6.272663 248.778125
  -9.354394 -2.586854 251.677972 -6.013929 1.401253 251.690599
  20.597016 14.812952 251.421855 17.318310 10.905917 251.404420
  13.829516 6.725036 251.391359 17.079992 10.593231 251.409157
  2.982890 -6.191419 251.362395 -0.232797 -10.044128 251.353266
  -5.814601 -8.876842 248.992198 -1.981562 -12.071537 248.715537
  24.069302 18.949469 251.429533 20.863526 15.135399 251.419132
  -1.992138 -12.071026 251.346969 -5.810820 -8.887438 251.350512
  9.988945 2.164539 251.384984 6.818754 -1.612462 251.378875
  16.936194 10.446988 248.793203 13.810374 6.727156 248.774222
  25.891035 18.043941 248.790529 22.771056 14.327910 248.781093
  -0.581164 1.587785 251.670015 -4.262822 4.638218 251.698925
  -4.290090 4.662704 249.084956 -0.627035 1.627811 248.882613
  3.479018 -5.378053 251.375184 0.076843 -2.545659 251.379792
  3.359012 0.881150 251.385165 6.594052 -1.824994 251.378182
  6.857529 -1.561646 248.758795 9.387227 1.452268 248.761815
  2.939438 1.065618 251.684858 0.619284 -1.725057 251.677150
  -0.195948 -9.987568 248.730614 2.079945 -7.260874 248.747442
  21.788998 16.236076 248.796314 24.067916 18.947419 248.818926
  0.683945 -1.651349 251.382630 2.860807 0.933683 251.391180
  3.276771 -5.863245 251.373749 5.390461 -3.317734 251.382144

Thank you

[levenberg]

Hi @name8997,

First, about the corridor 3D data(realsense/corridors/pt.ply), this pt.ply is downsampled from the original point cloud map for the storage on github and fast shown in rviz. The original point cloud map is very large and costs a lot of memory when loading in rviz.

For the performances of 3D line extraction, the resolution of point clouds matters. I tested on the data of terrain laser scanner (1~5cm), it works pretty well. If your point clouds are very sparse or noisy, the 3D line extraction results may not be good. I have tested the Velodyne point clouds based on LOAM, however, the 3D line extraction results are not accurate enough because of the noises.

You can try the following data, which is also downsampled to 1~2cm resolution.
NSH floor2 corridor. For the number of 3D lines, I only reserve long 3D lines (length >5cm), short lines are regarded as noises. You can change the length threshold based on the geometry of the data.

Best,
Huai