Introduction

This is a fork of peac (http://www.merl.com/research/license). Details in /include/README.md PEAC(Plane Extraction using Agglomerative Clustering) is a fast plane segmentation algorithm for organized point cloud. Frame rate can be more than 35Hz for 640×480 point clouds.

Feng C, Taguchi Y, Kamat V R. Fast plane extraction in organized point clouds using agglomerative hierarchical clustering[C]// IEEE International Conference on Robotics and Automation. IEEE, 2014:6218-6225.

This fork:

• add demo code which use opencv only(no pcl) to show how to run
• provice raw code and paper

Node:

• PEAC only support organized point cloud which can be generated from depth image or disparity image.
• PEAC code has only headers, so it can be easily integrated into your projects.
• PEAC assumes mm as unit. So input cloud should be in mm unit, or the algorithm param inside maybe invalid.

Prerequisites

Prerequisites needed for compiling PEAC using c++:

• OpenCV (http://opencv.org)

How to run

mkdir build
cd build
cmake ..
make
./demo_peac