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koide3 / hdl_people_tracking

Real-time people tracking using a 3D LIDAR
BSD 2-Clause "Simplified" License
288 stars 94 forks source link

Why detect people in the cloud named "filtered"? #22

Open FishInWave opened 4 years ago

FishInWave commented 4 years ago

Hi, @koide3 In apps/hdl_people_detection_nodelet.cpp, there are codes as:

    auto filtered = backsub->filter(cloud);
    auto clusters = detector->detect(filtered);

And it seems to detect people in the filtered cloud that only contains voxels with less than "occupy_thresh "(default value is 2). May I ask what assumptions they are based on？