handle multiple planes

[minhnh]

• add handling of multiple plane sac_plane_segmenter.cpp (mas_perception_libs)
• relevant StackOverflow post
• relevant PCL tutorial

[sthoduka]

the original scene_segmentation code used to use this: http://docs.pointclouds.org/1.7.0/classpcl_1_1_organized_multi_plane_segmentation.html

[minhnh]

Why did you change? Was that code too slow?

[sthoduka]

yes, it was faster to just use the single plane extraction. Since it's an 'organized' multi plane segmentation, the input pointcloud has to be organized (i.e. the full pointcloud from the camera; can't apply filters before etc.).

You can see/use the code here if you want to test it: https://github.com/b-it-bots/mas_perception/tree/ed90ee7c9f4ed498b6f3302f4c78bf31348a8223/mcr_scene_segmentation

the relevant files are ros/src/workspace_finder_node.cpp and common/src/plane_extraction.cpp

Also for Leipzig, we were running the single plane detection multiple time with different pass through settings. You probably remember that. I don't know which would better.