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jkk-research / lidar_cluster_ros2

LIDAR pointcloud clustering
https://jkk-research.github.io/workshops/clustering_a/
GNU General Public License v3.0
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Cluster outlining #6

Closed Zahuczky closed 2 months ago

Zahuczky commented 2 months ago

This pull request provides a new class to create MarkerArray outlines around clusters.

pcl::ConvexHull is used, with a custom function to tighten the outline.

For all consecutive points in the hull, if their distance is greater than X, a new point is added in the middle, which gets pulled into the closest point of the cluster.