Velodyne Lidar点云聚类算法

# Depth Clustering # [![Build Status][travis-img]][travis-link] [![Codacy Badge][codacy-img]][codacy-link] [![Coverage Status][coveralls-img]][coveralls-link] This is a fast and robust algorithm to segment point clouds taken with Velodyne sensor into objects. It works with all available Velodyne sensors, i.e. 16, 32 and 64 beam ones. Check out a video that shows all objects which have a bounding box with the volume of less than 10 qubic meters: [](https://www.youtube.com/watch?v=UXHX9kFGXfg "Segmentation") ## Prerequisites ## I recommend using a virtual environment in your catkin workspace (`<catkin_ws>` in this readme) and will assume that you have it set up throughout this readme. Please update your commands accordingly if needed. I will be using `pipenv` that you can install with `pip`. ### Set up workspace and catkin ### Regardless of your system you will need to do the following steps: ```bash cd <catkin_ws> # navigate to the workspace pipenv shell --fancy # start a virtual environment pip install catkin-tools # install catkin-tools for building mkdir src # create src dir if you don't have it already # Now you just need to clone the repo: git clone https://github.com/PRBonn/depth_clustering src/depth_clustering ``` ### System requirements ### You will need OpenCV, QGLViewer, FreeGLUT, QT4 or QT5 and optionally PCL and/or ROS. The following sections contain an installation command for various Ubuntu systems (click folds to expand): <details> <summary>Ubuntu 14.04</summary> #### Install these packages: ```bash sudo apt install libopencv-dev libqglviewer-dev freeglut3-dev libqt4-dev ``` </details> <details> <summary>Ubuntu 16.04</summary> #### Install these packages: ```bash sudo apt install libopencv-dev libqglviewer-dev freeglut3-dev libqt5-dev ``` </details> <details> <summary>Ubuntu 18.04</summary> #### Install these packages: ```bash sudo apt install libopencv-dev libqglviewer-dev-qt5 freeglut3-dev qtbase5-dev ``` </details> ### Optional requirements ### If you want to use PCL clouds and/or use ROS for data acquisition you can install the following: - (optional) PCL - needed for saving clouds to disk - (optional) ROS - needed for subscribing to topics ## How to build? ## This is a catkin package. So we assume that the code is in a catkin workspace and CMake knows about the existence of Catkin. It should be already taken care of if you followed the instructions [here](#set-up-workspace-and-catkin). Then you can build it from the project folder: ```bash mkdir build cd build cmake .. make -j4 ctest -VV # run unit tests, optional ``` It can also be built with `catkin_tools` if the code is inside catkin workspace: ```bash catkin build depth_clustering ``` P.S. in case you don't use `catkin build` you [should][catkin_tools_docs] reconsider your decision. ## How to run? ## See [examples](examples/). There are ROS nodes as well as standalone binaries. Examples include showing axis oriented bounding boxes around found objects (these start with `show_objects_` prefix) as well as a node to save all segments to disk. The examples should be easy to tweak for your needs. ## Run on real world data ## Go to folder with binaries: ``` cd <path_to_project>/build/devel/lib/depth_clustering ``` #### Frank Moosmann's "Velodyne SLAM" Dataset #### Get the data: ``` mkdir data/; wget http://www.mrt.kit.edu/z/publ/download/velodyneslam/data/scenario1.zip -O data/moosmann.zip; unzip data/moosmann.zip -d data/; rm data/moosmann.zip ``` Run a binary to show detected objects: ``` ./show_objects_moosmann --path data/scenario1/ ``` Alternatively, you can run the data from Qt GUI (as in video): ``` ./qt_gui_app ``` Once the GUI is shown, click on <kbd>OpenFolder</kbd> button and choose the folder where you have unpacked the `png` files, e.g. `data/scenario1/`. Navigate the viewer with arrows and controls seen on screen. #### Other data #### There are also examples on how to run the processing on KITTI data and on ROS input. Follow the `--help` output of each of the examples for more details. Also you can load the data from the GUI. Make sure you are loading files with correct extension (`*.txt` and `*.bin` for KITTI, `*.png` for Moosmann's data). ## Documentation ## You should be able to get Doxygen documentation by running: ``` cd doc/ doxygen Doxyfile.conf ``` ## Related publications ## Please cite related papers if you use this code: ``` @InProceedings{bogoslavskyi16iros, title = {Fast Range Image-Based Segmentation of Sparse 3D Laser Scans for Online Operation}, author = {I. Bogoslavskyi and C. Stachniss}, booktitle = {Proc. of The International Conference on Intelligent Robots and Systems (IROS)}, year = {2016}, url = {http://www.ipb.uni-bonn.de/pdfs/bogoslavskyi16iros.pdf} } ``` ``` @Article{bogoslavskyi17pfg, title = {Efficient Online Segmentation for Sparse 3D Laser Scans}, author = {I. Bogoslavskyi and C. Stachniss}, journal = {PFG -- Journal of Photogrammetry, Remote Sensing and Geoinformation Science}, year = {2017}, pages = {1--12}, url = {https://link.springer.com/article/10.1007%2Fs41064-016-0003-y}, } ``` [travis-img]: https://img.shields.io/travis/PRBonn/depth_clustering/master.svg?style=for-the-badge [travis-link]: https://travis-ci.org/PRBonn/depth_clustering [coveralls-img]: https://img.shields.io/coveralls/github/PRBonn/depth_clustering/master.svg?style=for-the-badge [coveralls-link]: https://coveralls.io/github/PRBonn/depth_clustering [codacy-img]: https://img.shields.io/codacy/grade/338a7f3c5b9c4323b1de266900ca20ff.svg?style=for-the-badge [codacy-link]: https://www.codacy.com/project/zabugr/depth_clustering/dashboard?utm_source=github.com&amp;utm_medium=referral&amp;utm_content=PRBonn/depth_clustering&amp;utm_campaign=Badge_Grade_Dashboard [build-status-img]: https://gitlab.ipb.uni-bonn.de/igor/depth_clustering/badges/master/build.svg [coverage-img]: https://gitlab.ipb.uni-bonn.de/igor/depth_clustering/badges/master/coverage.svg [commits-link]: https://gitlab.ipb.uni-bonn.de/igor/depth_clustering/commits/master [catkin_tools_docs]: https://catkin-tools.readthedocs.io/en/latest/installing.html