第四周作业,使用PCL先进行地面分割,然后再使用欧式聚类 aiimooc_syz4是ROS实现地面滤除

CHANdaFeng · May 21, 2020 · c880ae1 · c880ae1
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diff --git a/aiimooc_syz4/CMakeLists.txt b/aiimooc_syz4/CMakeLists.txt
@@ -0,0 +1,121 @@
+# cmake_minimum_required(VERSION 2.8.3)
+# project(aiimooc_syz4)
+
+# add_compile_options(-std=c++11)
+
+
+# find_package(catkin REQUIRED COMPONENTS
+# pcl_ros
+# roscpp
+# sensor_msgs
+# )
+
+# ## Generate dynamic reconfigure parameters in the 'cfg' folder
+# # generate_dynamic_reconfigure_options(
+# #   cfg/RangeImage.cfg
+# ##   cfg/DynReconf2.cfg
+# # )
+
+
+# find_package(PCL 1.9 REQUIRED)
+
+
+
+# catkin_package(
+#   INCLUDE_DIRS include
+#   CATKIN_DEPENDS roscpp sensor_msgs pcl_ros    
+#   DEPENDS PCL
+# )
+
+
+# include_directories(
+#   include ${catkin_INCLUDE_DIRS}
+#  include
+#  ${catkin_INCLUDE_DIRS}
+#  ${PCL_INCLUDE_DIRS}
+#  # ${OpenCV_INCLUDE_DIRS}
+# )
+# link_directories(${PCL_LIBRARY_DIRS})
+# # link_directories(${OpenCV_LIBRARY_DIRS})
+
+
+# add_executable(${PROJECT_NAME}_node
+#   #src/pt2image_core.cpp
+#   src/pcl_node.cpp
+# )
+
+# # add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)  # dynamic reconfigure 新加的依赖
+
+
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+#   ${PCL_LIBRARIES}
+#  # ${OpenVC_LIBRARIES}
+# )
+
+cmake_minimum_required(VERSION 2.8.3)
+project(aiimooc_syz4)
+
+add_compile_options(-std=c++11)
+
+
+find_package(catkin REQUIRED COMPONENTS
+pcl_ros
+roscpp
+sensor_msgs
+# Eigen3
+
+)
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+ generate_dynamic_reconfigure_options(
+   cfg/FitPlane.cfg
+#   cfg/DynReconf2.cfg
+ )
+
+# set(PCL_DIR /home/s/pcl/release)
+# set(PCL_DIR /usr/share/pcl-1.9) 
+find_package(PCL 1.9 REQUIRED)
+# find_package(OpenCV REQUIRED)
+
+message(STATUS "PCL_DIR = ${PCL_DIR}")
+message(STATUS "PCL_INCLUDE_DIRS = ${PCL_INCLUDE_DIRS}")
+message(STATUS "PCL_LIBS = ${PCL_LIBRARIES}")
+
+
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS roscpp sensor_msgs pcl_ros 
+  DEPENDS PCL
+)
+
+
+include_directories(
+ include
+ ${catkin_INCLUDE_DIRS}
+ ${PCL_INCLUDE_DIRS}
+  /usr/lib/cmake/eigen3
+#  ${OpenCV_INCLUDE_DIRS}
+)
+link_directories(${PCL_LIBRARY_DIRS})
+# link_directories(${OpenCV_LIBRARY_DIRS})
+
+
+add_executable(${PROJECT_NAME}_node
+  src/pcl_node.cpp
+)
+
+# add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)  # dynamic reconfigure 新加的依赖
+
+
+target_link_libraries(${PROJECT_NAME}_node
+  ${catkin_LIBRARIES}
+  ${PCL_LIBRARIES}
+  # ${OpenVC_LIBRARIES}
+)
+
+
+
+
+
+
diff --git a/aiimooc_syz4/cfg/FitPlane.cfg b/aiimooc_syz4/cfg/FitPlane.cfg
@@ -0,0 +1,15 @@
+#!/usr/bin/env python
+
+PACKAGE = "aiimooc_syz4"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("sensor_height", double_t, 0, "height of lidar", 1.2, 1.0, 2.5)
+gen.add("num_iter", int_t, 0, "number of iter", 6, 3, 10)
+gen.add("num_lpr", int_t, 0, "number of intial seeds points", 20, 10, 200)
+gen.add("th_seeds", double_t, 0, "threshold of get seeds", 0.2, 0, 0.5)
+gen.add("th_dist",double_t,0,"threshold of get plane",0.3,0,0.5)
+
+exit(gen.generate(PACKAGE, "lidar_pcl", "FitPlane"))
diff --git a/aiimooc_syz4/cfg/params.yaml b/aiimooc_syz4/cfg/params.yaml
@@ -0,0 +1,4 @@
+width_range: 180.
+height_range: 180.
+res_x: 1.0
+res_y: 1.0
diff --git a/aiimooc_syz4/launch/pcl_node.launch b/aiimooc_syz4/launch/pcl_node.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+	<node name="lidar_pcl" type="aiimooc_syz4_node" pkg="aiimooc_syz4" output="screen" respawn="false">
+
+	</node>
+
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find aiimooc_syz4)/rviz/rslidar.rviz" required="true" />  
+	<!--node name="rviz" pkg="rviz" type="rviz"  required="true" /-->  
+</launch>
diff --git a/aiimooc_syz4/package.xml b/aiimooc_syz4/package.xml
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>aiimooc_syz4</name>
+  <version>0.0.0</version>
+  <description>tree filter segmentation in ROS</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="suyun_zheng@163.com">s</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>pcl_ros</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>ros_bridge</build_depend>
+
+
+
+
+  <!--build_export_depend>pcl_ros</build_export_depend-->
+  <!--build_export_depend>roscpp</build_export_depend-->
+  <!--build_export_depend>sensor_msgs</build_export_depend-->
+  <!--build_export_depend>ros_bridge</build_export_depend-->
+
+
+  <exec_depend>pcl_ros</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>ros_bridge</exec_depend>
+
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/aiimooc_syz4/rviz/rslidar.rviz b/aiimooc_syz4/rviz/rslidar.rviz
@@ -0,0 +1,177 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /PointCloud21
+        - /PointCloud22
+      Splitter Ratio: 0.5
+    Tree Height: 565
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 23.3599739
+        Min Value: -2.84932828
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 26.0100002
+      Min Color: 0; 0; 0
+      Min Intensity: 0.0545785241
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.0299999993
+      Style: Flat Squares
+      Topic: /no_ground_points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.0299999993
+      Style: Flat Squares
+      Topic: /ground_points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: rslidar
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 112.951912
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 1.20539939
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 2.97040224
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000022b000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 65
+  Y: 60