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praveen-palanisamy / multiple-object-tracking-lidar

C++ implementation to Detect, track and classify multiple objects using LIDAR scans or point cloud
MIT License
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VLP-16 3d lidar #11

Closed kalai86 closed 5 years ago

kalai86 commented 5 years ago

hi praveen, I am using 3d lidar vlp-16 , i try to detect the objects in real time but i cant separate the ground plane so give the suggestion for that.

i will try to work your code ,it will work in real time sensor or work only kitti dataset?

if it will work in kitti dataset, pls tell where to change the code and how to work in real sensor data

praveen-palanisamy commented 5 years ago

Hi @kalai86,

You could use the Point Cloud Library (PCL) to separate the ground plane from the Velodyne VLP-16 3D LiDAR data. You can follow this tutorial which has a code example on how to do planar segmentation on pointcloud data.

The code in this repository was tested and works with real LiDAR sensors. You could also use this code on pointclouds from datasets like KITTI. As long the pointclouds are published on the right ROS topics, this code will work irrespective of the actual source of the data (from real sensor or simulated sensor or from logged data).

I am closing the issue as your questions are answered. Feel free to re-open or create a new issue depending your state.