Fast-3D-Pointcloud-Segmentation 项目使用教程

Fast-3D-Pointcloud-Segmentation 项目使用教程

Fast-3D-Pointcloud-SegmentationFast 3D point cloud segmentation using supervoxels with geometry and color for 3D scene understanding项目地址:https://gitcode.com/gh_mirrors/fa/Fast-3D-Pointcloud-Segmentation

1. 项目的目录结构及介绍

Fast-3D-Pointcloud-Segmentation 项目的目录结构如下：

Fast-3D-Pointcloud-Segmentation/
├── include/
│   └── supervoxel_clustering/
├── launch/
├── pcd/
├── src/
├── CMakeLists.txt
├── LICENSE
├── README.md
└── package.xml

目录结构介绍

• include/: 包含 supervoxel_clustering 的头文件。
• launch/: 包含启动项目的配置文件。
• pcd/: 包含点云数据文件。
• src/: 包含项目的源代码文件。
• CMakeLists.txt: 项目的 CMake 配置文件。
• LICENSE: 项目的许可证文件。
• README.md: 项目的说明文档。
• package.xml: 项目的依赖和元数据文件。

2. 项目的启动文件介绍

项目的启动文件位于 launch/ 目录下。这些文件用于配置和启动项目的运行环境。

启动文件示例

<launch>
    <!-- 配置参数 -->
    <arg name="voxel_resolution" default="0.008"/>
    <arg name="seed_resolution" default="0.08"/>
    <arg name="color_weight" default="0.2"/>
    <arg name="spatial_weight" default="0.4"/>
    <arg name="normal_weight" default="1.0"/>

    <!-- 启动节点 -->
    <node pkg="fast_3d_pointcloud_segmentation" type="supervoxel_clustering" name="supervoxel_clustering" output="screen">
        <param name="voxel_resolution" value="$(arg voxel_resolution)"/>
        <param name="seed_resolution" value="$(arg seed_resolution)"/>
        <param name="color_weight" value="$(arg color_weight)"/>
        <param name="spatial_weight" value="$(arg spatial_weight)"/>
        <param name="normal_weight" value="$(arg normal_weight)"/>
    </node>
</launch>

启动文件说明

• 配置参数: 定义了 supervoxel 聚类的参数，如 voxel_resolution、seed_resolution、color_weight、spatial_weight 和 normal_weight。
• 启动节点: 启动 supervoxel_clustering 节点，并加载配置参数。

3. 项目的配置文件介绍

项目的配置文件主要包括 CMakeLists.txt 和 package.xml。

CMakeLists.txt

CMakeLists.txt 文件用于配置项目的构建过程。

cmake_minimum_required(VERSION 3.0.0)
project(fast_3d_pointcloud_segmentation)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  pcl_ros
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES fast_3d_pointcloud_segmentation
  CATKIN_DEPENDS roscpp pcl_ros
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_executable(supervoxel_clustering src/supervoxel_clustering.cpp)
target_link_libraries(supervoxel_clustering ${catkin_LIBRARIES})

package.xml

package.xml 文件用于定义项目的依赖和元数据。

<package>
  <name>fast_3d_pointcloud_segmentation</name>
  <version>1.0.0</version>
  <description>Fast 3D Pointcloud Segmentation using supervoxels with geometry and color for 3D scene understanding.</description>
  <maintainer email="maintainer@example.com">Maintainer Name</maintainer>
  <license>BSD-3-Clause</license>

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>pcl_ros</build_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>pcl_ros</run_depend>
</package>

配置文件说明

• **CMakeLists

Fast-3D-Pointcloud-SegmentationFast 3D point cloud segmentation using supervoxels with geometry and color for 3D scene understanding项目地址:https://gitcode.com/gh_mirrors/fa/Fast-3D-Pointcloud-Segmentation