【多传感器融合】基于kitti 数据集的激光雷达和视觉融合 加目标检测跟踪

激光雷达 - 视觉 多传感器融合

1. 项目介绍

​ 基于kitty 数据集的激光雷达和视觉融合加目标跟踪。

2. 使用方式

cd 项目文件夹
mkdir build
cd build 
cmake ..
make 
./main

3. 效果

4. 部分代码

Main.cpp

此为部分代码，详细代码请看 第5条

 //可视化跟踪框：红色边框
   for(int i = 0; i < track_result.size(); i++)
      {
            BoundingBox oneBox = track_result[i];
            Eigen::Vector3f location(oneBox.center.x, oneBox.center.y, oneBox.center.z);
            Eigen::Quaternionf rotation(cos(-oneBox.yaw / 2) , 0, 0, sin(-oneBox.yaw / 2));
            viewer->addCube(location, 
                            rotation, 
                            oneBox.w, 
                            oneBox.l, 
                            oneBox.h, 
                            "trackBox" + std::to_string(i), 
                            0);   
            viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 0, 0, //设置跟踪框为红色
                                                "trackBox" + std::to_string(i));
            viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_REPRESENTATION, pcl::visualization::PCL_VISUALIZER_REPRESENTATION_WIREFRAME, 
                                                "trackBox" + std::to_string(i));    
            //可视化文本    
            viewer->addText3D("ID: " + to_string(oneBox.trackID) + "\n"
                              + "type: "+oneBox.matchObjType + "\n"
                              , //文本内容
                              pcl::PointXYZ(oneBox.center.x, oneBox.center.y, oneBox.center.z + 1), //文本坐标
                              0.5,//文本大小
                              0.0, 
                              0.0, 
                              0.0, 
                              "trackID" + std::to_string(i));  		                      
            viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 0, 0, // 设置文本的颜色为红色
                                                 "trackID" + std::to_string(i));  
        }
        
        //可视化检测框：绿色实体框
        for(int i = 0; i < lidarDets.size(); i++)
        {
            BoundingBox oneBox = lidarDets[i];
            Eigen::Vector3f location(oneBox.center.x, oneBox.center.y, oneBox.center.z);
            Eigen::Quaternionf rotation(cos(-oneBox.yaw / 2) , 0, 0, sin(-oneBox.yaw / 2));
            //可视化方框
            viewer->addCube(location, 
                            rotation, 
                            oneBox.w, 
                            oneBox.l, 
                            oneBox.h, 
                            "detBox" + std::to_string(i), 
                            0);
            viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 0, 1, 0, //设置检测框为绿色
                                                "detBox" + std::to_string(i));
            viewer->setShapeRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, 0.3, 
                                                "detBox" + std::to_string(i));   
        }

        viewer->spinOnce(1);//10Hz
        viewer->removeAllPointClouds();
        viewer->removeAllShapes();

CMakeLists.txt

cmake_minimum_required(VERSION 2.6 FATAL_ERROR)
project(object_track)

SET(CMAKE_BUILD_TYPE Release)

find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})

find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS}
                    ${PROJECT_SOURCE_DIR}/include)
link_directories(${OpenCV_LIBRARY_DIRS})

add_definitions(${PCL_DEFINITIONS})

add_executable(main 
                    main.cpp)
                    
target_link_libraries(main 
                           ${PCL_LIBRARIES}
                           ${OpenCV_LIBRARIES})
                                     

5. 代码下载

链接: https://pan.baidu.com/s/1zargl2Ju7HgZB2XQhw1Z4g 提取码: cqxe 
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