vlp-16点云聚类（14）

https://github.com/xiangkejun/chuan/tree/master/chuan_ws/src/euclidean_cluster_xx?1546276764383

将分割后的地面上的点云进行聚类提取。

并以box的形式包围起来。

参考：https://blog.csdn.net/AdamShan/article/details/83015570

 

//xx
//添加3dlidar 
//通过flag_3dlidar_stauts 开启和关闭3dlidar
// 用地面分割后的点云进行跟踪
#include "euclidean_cluster_core.h"
#include <iostream>

int flag_3dlidar_stauts;  //3d lidar 控制状态
EuClusterCore::EuClusterCore(ros::NodeHandle &nh)
{

    seg_distance_ = {15, 30, 45, 60};
  //  cluster_distance_ = {0.5, 1.0, 1.5, 2.0, 2.5};
     cluster_distance_ = {1.0, 1.0, 1.5, 2.0, 2.5};
    sub_point_cloud_ = nh.subscribe("/velodyne_points", 5, &EuClusterCore::point_cb, this);

    //xx
    //有两个地发发布 flag_nav_to_3dlidar，1.导航交控制权给3dlidar 2.3dbox处理完发取消3dbox的发布
    sub_nav_to_3dlidar_ = nh.subscribe("flag_nav_to_3dlidar",1,&EuClusterCore::flag_nav_to_3dlidar_cb,this);
  //  sub_point_cloud_ = nh.subscribe("/filtered_points_no_ground", 5, &EuClusterCore::point_cb, this);

 //   pub_bounding_boxs_ = nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("/detected_bounding_boxs", 5);
    pub_bounding_boxs_ = nh.advertise<jsk_recognition_msgs::BoundingBoxArray>("/box_lidar_points", 5);

    ros::spin();
}

// 订阅点云数据后 得到box 以节点 /box_lidar_points发布
 

启动

roslaunch euclidean_cluster box_lidar_xx.launch