Object Cluster

Environment

Ubuntu 18.04
ROS Melodic

Data

RosBag for offline testing

IO

input
/points_raw (sensor_msgs::PointCloud2)
output
/object_cluster/clusters (object_cluster::ClusterArray)
/object_cluster/detected_bounding_boxs (jsk_recognition_msgs::BoundingBoxArray)

How to use

Move the project into the ROS workspace (e.g. ~/ros_ws/src/)
Build the project in the ROS workspace
```
cd ros_ws/
catkin_make
```

Setup the parameters in object_cluster.launch

<!-- Common Parameters -->
<arg name="sensor_model" default="64" doc="Divide the point cloud into nested circular regions centred at the sensor. 16/32/64"/>
<arg name="print_fps" default="true" doc="Print the FPS on the terminal."/>

<!-- Crop Parameters -->
<arg name="x_axis_min" default="0.0" doc="Backward"/>
<arg name="x_axis_max" default="80.0" doc="Forward"/>
<arg name="y_axis_min" default="-20.0" doc="Right"/>
<arg name="y_axis_max" default="20.0" doc="Left"/>
<arg name="z_axis_min" default="-0.70" doc="Downward (e.g. the height of the LIDAR.)"/>
<arg name="z_axis_max" default="0.5" doc="Upward"/>

<!-- Cluster Parameters -->
<arg name="cluster_size_min" default="10" doc="The minimum number of the points to be clustered."/>
<arg name="cluster_size_max" default="10000" doc="The maximum number of the points to be clustered."/>

Note: The default parameters work well with OUSTER-64.

Run the Object Cluster

Source the setup.bash
```
cd ros_ws
source devel/setup.bash
```

Launch the Object Cluster node

roslaunch object_cluster object_cluster.launch

Play the rosbag for offline testing
```
rosbag play offline_testing.bag
```

Subscribe the clustered objects messages from the topic /object_cluster/detected_bounding_boxs.

<!-- Demo -->
---
header: 
  seq: 11876
  stamp: 
    secs: 1641871314
    nsecs: 313279366
  frame_id: "velodyne"
pose: 
  position: 
    x: 4.80017709732
    y: 14.9710798264
    z: -0.106718301773
  orientation: 
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0
dimensions: 
  x: 0.2
  y: 0.642765045166
  z: 1.15449118614
value: 0.0
label: 0
---

leofansq/ROS_Object_Cluster

Object Cluster

Environment

Data

IO

How to use

Related projects in pure ROS (Melodic)