/cluster

Primary LanguageC++

cluster_detector

v0.0

  • ground plane filter
  • object cluster
  • bounding box maker

v1.0 20211126

  • + boundary maker

v1.1 20211201

  • + delete some unnecessory boundary points 361 points -> near 240 points

v1.1.1 20220104

  • + add the visualization of scene points after ground extraction

v1.1.2 20220105

  • + publish dogm boundary message

Dependencies:

  • Ubuntu 16.04 or 18.04
  • ROS version correspond to Ubuntu 16.04 or 18.04
  • PCL (automate installed with ROS)

use

  • cd $CLUSTER_ROOT/src/cluster_detector/

  • change the topic name and parameters in cluster_detector.launch according to the LiDAR type and position

  • cd $CLUSTER_ROOT

  • catkin_make

  • source devel/setup.bash

  • roslaunch cluster_detector cluster_detector.launch