How to segment depth image faster?

Question

I need to segment depth image that captured from a kinect device in realtime(30fps).

Currently I am using EuclideanClusterExtraction from PCL, it works but very slow(1fps).

Here is a paragraph in the PCL tutorial:

“Unorganized” point clouds are characterized by non-existing point references between points from different point clouds due to varying size, resolution, density and/or point ordering. In case of “organized” point clouds often based on a single 2D depth/disparity images with fixed width and height, a differential analysis of the corresponding 2D depth data might be faster.

So I think there are faster method to segment depth image.

• The project doesn't use the RGB Camera, so I need a segmentation method that use only the depth image.

Answer 1

PCL provides segmentation algorithms optimised for organised point clouds.

For details see:

• The tutorial here describing them and showing how to use them: http://www.pointclouds.org/assets/icra2012/segmentation.pdf

• The example code in thePCL distribution (relatively late versions): organized_segmentation_demo and openni_organized_multi_plane_segmentation

• In the API, OrganizedConnectedComponentSegmentation and OrganizedMultiPlaneSegmentation. The latter builds on the former.