i dont know how to use it test with my pcd data about pole-localization HOT 7 CLOSED

Hello, our algorithm uses range image as input. Therefore, the first step is to convert your pcd data to the range image format as shown in

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thank you for you reply， i will have a try. this work have used polex ,so i want to known whether i can get a box in my PCD map or something like Segmentation in my pCD map。

from pole-localization.

Yes, we calculate both the x,y position and the radius of the pole. You can get a box based on these calculations.

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dear author， i just read your paper and in your paper you have train a segmentation network，but i dont known how to visualize the result after simply realizing your work.

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You can set vis=True in the detect_poles() and plot pole_vis using matplotlib

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dear author，when i use SLAM pcd map to run poles_extrators.py ,there something wrong . i want to if i can use the SLAM pcd map as an iput.the code is as follows

if name == 'main':
xyz = o3d.io.read_point_cloud("/home/dell/zxh/pole-localization-main/data/9.19-1.pcd")
_, pole_vis = detect_poles(xyz, neighbourthr=0.5, min_point_num=3, dis_thr=0.08, width_thr=10, fov_up=30.67, fov_down=-10.67,
proj_H=32, proj_W=250, lowest=0.1, highest=6, lowthr=1.5, highthr=0.7, totalthr=0.6, vis=True)
plt.imshow(pole_vis, cmap="gray")
plt.show()

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In general, not. You must project your pcd to the range image using

A possible way is to project the SLAM pcd map to the RGB image plane using extrinsic and intrinsic matrix and then extract poles on the projected depth map. But I never try it.

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