PCL based ROS package to Detect/Cluster --> Track --> Classify static and dynamic objects in real-time from LIDAR scans implemented in C++.
https://github.com/praveen-palanisamy/multiple-object-tracking-lidar.git
Follow the steps below to use this (multi_object_tracking_lidar
) package:
mkdir ~/ws_ros2/src
src
folder in your catkin workspace: cd ~/ws_ros2/src
git clone https://github.com/aldras/multiple-object-tracking-lidar.git
cd ~/ws_ros2 && colcon build
source ~/ws_ros2/install/setup.bash
kf_tracker
ROS node in this package: ros2 launch multiple_object_tracking_lidar multiple_object_tracking_lidar.launch.py
Change parameters in the launch file launch/multiple_object_tracking_lidar.launch.py for the frame_id and filtered_cloud.
If all went well, the ROS node should be up and running! As long as you have the point clouds published on to the filtered_cloud
rostopic, you should see outputs from this node published onto the obj_id
, cluster_0
, cluster_1
, …, cluster_5
topics along with the markers on viz
topic which you can visualize using RViz.
The input point-clouds can be from:
Note: This package expects valid point cloud data as input. The point clouds you publish to the "filtered_cloud
" is not expected to contain NaNs. The point cloud filtering is somewhat task and application dependent and therefore it is not done by this module.
PCL library provides pcl::removeNaNFromPointCloud (...)
method to filter out NaN points. You can refer to this example code snippet to easily filter out NaN points in your point cloud.
Note: After porting to ROS 2 there are issues with removal of support for Marker and MarkerArray, therefore it is currently commented out. Lines 405 and 547 "ec.setClusterTolerance(0.3)" had been changed to "ec.setClusterTolerance(0.08)", to resolve speed issues.
If you use the code or snippets from this repository in your work, please cite:
@software{praveen_palanisamy_2019_3559187,
author = {Praveen Palanisamy},
title = {{praveen-palanisamy/multiple-object-tracking-lidar:
Multiple-Object-Tracking-from-Point-Clouds_v1.0.2}},
month = dec,
year = 2019,
publisher = {Zenodo},
version = {1.0.2},
doi = {10.5281/zenodo.3559187},
url = {https://doi.org/10.5281/zenodo.3559186}
}