- ground plane filter
- object cluster
- bounding box maker
- + boundary maker
- + delete some unnecessory boundary points 361 points -> near 240 points
- + add the visualization of scene points after ground extraction
- + publish dogm boundary message
- Ubuntu 16.04 or 18.04
- ROS version correspond to Ubuntu 16.04 or 18.04
- PCL (automate installed with ROS)
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cd $CLUSTER_ROOT/src/cluster_detector/
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change the topic name and parameters in cluster_detector.launch according to the LiDAR type and position
-
cd $CLUSTER_ROOT
-
catkin_make
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source devel/setup.bash
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roslaunch cluster_detector cluster_detector.launch