├── CMakeLists.txt
├── CMakeLists.txt~
├── cfg
    ├── PclParams.cfg~
    ├── velodyne.cfg
    ├── velodyne.cfg~
    └── zr300.cfg
├── config.docx
├── docs
    ├── _config.yml
    ├── annotated.html
    ├── bc_s.png
    ├── bdwn.png
    ├── classOcclusionDetection-members.html
    ├── classOcclusionDetection.html
    ├── classOcclusionDetection.png
    ├── classSensor-members.html
    ├── classSensor.html
    ├── classSensor.png
    ├── classVelodyne-members.html
    ├── classVelodyne.html
    ├── classVelodyne.png
    ├── classZR300-members.html
    ├── classZR300.html
    ├── classZR300.png
    ├── classdatmo_1_1cloud__segmentation-members.html
    ├── classdatmo_1_1cloud__segmentation.html
    ├── classdatmo_1_1cloud__segmentation.png
    ├── classes.html
    ├── classmot_1_1Mot-members.html
    ├── classmot_1_1Mot.html
    ├── classmot_1_1tracked__object-members.html
    ├── classmot_1_1tracked__object.html
    ├── closed.png
    ├── dir_53e6fa9553ac22a5646d2a2b2d7b97a1.html
    ├── dir_68267d1309a1af8e8297ef4c3efbcdba.html
    ├── dir_79a5a671b7519b5e5da00226a4e7276b.html
    ├── dir_d44c64559bbebec7f509842c48db8b23.html
    ├── doc.png
    ├── doxygen.css
    ├── doxygen.png
    ├── dynamic__obstacle__tracking_8cpp.html
    ├── dynamic__obstacle__tracking_8hpp.html
    ├── dynamic__obstacle__tracking_8hpp_source.html
    ├── dynsections.js
    ├── files.html
    ├── folderclosed.png
    ├── folderopen.png
    ├── functions.html
    ├── functions_func.html
    ├── functions_vars.html
    ├── globals.html
    ├── globals_defs.html
    ├── globals_func.html
    ├── hierarchy.html
    ├── index.html
    ├── jquery.js
    ├── menu.js
    ├── menudata.js
    ├── mot_8py.html
    ├── namespacedatmo.html
    ├── namespacemembers.html
    ├── namespacemembers_func.html
    ├── namespacemembers_vars.html
    ├── namespacemot.html
    ├── namespaces.html
    ├── nav_f.png
    ├── nav_g.png
    ├── nav_h.png
    ├── open.png
    ├── search
    │   ├── all_0.html
    │   ├── all_0.js
    │   ├── all_1.html
    │   ├── all_1.js
    │   ├── all_10.html
    │   ├── all_10.js
    │   ├── all_11.html
    │   ├── all_11.js
    │   ├── all_12.html
    │   ├── all_12.js
    │   ├── all_13.html
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    │   ├── all_14.html
    │   ├── all_14.js
    │   ├── all_15.html
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    │   ├── all_17.html
    │   ├── all_17.js
    │   ├── all_2.html
    │   ├── all_2.js
    │   ├── all_3.html
    │   ├── all_3.js
    │   ├── all_4.html
    │   ├── all_4.js
    │   ├── all_5.html
    │   ├── all_5.js
    │   ├── all_6.html
    │   ├── all_6.js
    │   ├── all_7.html
    │   ├── all_7.js
    │   ├── all_8.html
    │   ├── all_8.js
    │   ├── all_9.html
    │   ├── all_9.js
    │   ├── all_a.html
    │   ├── all_a.js
    │   ├── all_b.html
    │   ├── all_b.js
    │   ├── all_c.html
    │   ├── all_c.js
    │   ├── all_d.html
    │   ├── all_d.js
    │   ├── all_e.html
    │   ├── all_e.js
    │   ├── all_f.html
    │   ├── all_f.js
    │   ├── classes_0.html
    │   ├── classes_0.js
    │   ├── classes_1.html
    │   ├── classes_1.js
    │   ├── classes_2.html
    │   ├── classes_2.js
    │   ├── classes_3.html
    │   ├── classes_3.js
    │   ├── classes_4.html
    │   ├── classes_4.js
    │   ├── classes_5.html
    │   ├── classes_5.js
    │   ├── classes_6.html
    │   ├── classes_6.js
    │   ├── close.png
    │   ├── defines_0.html
    │   ├── defines_0.js
    │   ├── defines_1.html
    │   ├── defines_1.js
    │   ├── files_0.html
    │   ├── files_0.js
    │   ├── files_1.html
    │   ├── files_1.js
    │   ├── files_2.html
    │   ├── files_2.js
    │   ├── files_3.html
    │   ├── files_3.js
    │   ├── functions_0.html
    │   ├── functions_0.js
    │   ├── functions_1.html
    │   ├── functions_1.js
    │   ├── functions_2.html
    │   ├── functions_2.js
    │   ├── functions_3.html
    │   ├── functions_3.js
    │   ├── functions_4.html
    │   ├── functions_4.js
    │   ├── functions_5.html
    │   ├── functions_5.js
    │   ├── functions_6.html
    │   ├── functions_6.js
    │   ├── functions_7.html
    │   ├── functions_7.js
    │   ├── functions_8.html
    │   ├── functions_8.js
    │   ├── functions_9.html
    │   ├── functions_9.js
    │   ├── functions_a.html
    │   ├── functions_a.js
    │   ├── functions_b.html
    │   ├── functions_b.js
    │   ├── functions_c.html
    │   ├── functions_c.js
    │   ├── functions_d.html
    │   ├── functions_d.js
    │   ├── functions_e.html
    │   ├── functions_e.js
    │   ├── mag_sel.png
    │   ├── namespaces_0.html
    │   ├── namespaces_0.js
    │   ├── namespaces_1.html
    │   ├── namespaces_1.js
    │   ├── nomatches.html
    │   ├── search.css
    │   ├── search.js
    │   ├── search_l.png
    │   ├── search_m.png
    │   ├── search_r.png
    │   ├── searchdata.js
    │   ├── variables_0.html
    │   ├── variables_0.js
    │   ├── variables_1.html
    │   ├── variables_1.js
    │   ├── variables_10.html
    │   ├── variables_10.js
    │   ├── variables_11.html
    │   ├── variables_11.js
    │   ├── variables_12.html
    │   ├── variables_12.js
    │   ├── variables_13.html
    │   ├── variables_13.js
    │   ├── variables_14.html
    │   ├── variables_14.js
    │   ├── variables_2.html
    │   ├── variables_2.js
    │   ├── variables_3.html
    │   ├── variables_3.js
    │   ├── variables_4.html
    │   ├── variables_4.js
    │   ├── variables_5.html
    │   ├── variables_5.js
    │   ├── variables_6.html
    │   ├── variables_6.js
    │   ├── variables_7.html
    │   ├── variables_7.js
    │   ├── variables_8.html
    │   ├── variables_8.js
    │   ├── variables_9.html
    │   ├── variables_9.js
    │   ├── variables_a.html
    │   ├── variables_a.js
    │   ├── variables_b.html
    │   ├── variables_b.js
    │   ├── variables_c.html
    │   ├── variables_c.js
    │   ├── variables_d.html
    │   ├── variables_d.js
    │   ├── variables_e.html
    │   ├── variables_e.js
    │   ├── variables_f.html
    │   └── variables_f.js
    ├── splitbar.png
    ├── structdatmo_1_1Float3-members.html
    ├── structdatmo_1_1Float3.html
    ├── sync_off.png
    ├── sync_on.png
    ├── tab_a.png
    ├── tab_b.png
    ├── tab_h.png
    ├── tab_s.png
    ├── tabs.css
    ├── velodyne__node_8cpp.html
    └── zr300__node_8cpp.html
├── include
    └── dynamic_obstacle_tracking
    │   └── dynamic_obstacle_tracking.hpp
├── launch
    ├── cloud_segmentation.launch
    ├── quanergy_segmentation.launch
    ├── velodyne_segmentation.launch
    └── zr300_segmentation.launch
├── package.xml
├── package.xml~
├── scripts
    └── mot.py
└── src
    ├── dynamic_obstacle_tracking.cpp
    ├── velodyne_node.cpp
    └── zr300_node.cpp


/cfg/PclParams.cfg~:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python
 2 | PACKAGE = "datmo"
 3 | 
 4 | from dynamic_reconfigure.parameter_generator_catkin import *
 5 | 
 6 | gen = ParameterGenerator()
 7 | 
 8 | gen.add("VOXEL_LEAF_SIZE",			double_t,	0, "Voxel leaf size", 0.15, 0, 0.5)
 9 | gen.add("ENABLE_SOR",				bool_t,		0, "Enable Statistical outlier removal", True)
10 | gen.add("SOR_MEAN_K",				int_t,		0, "number of neighbors to analyze for each point in SOR", 20, 0, 150)
11 | gen.add("SOR_STD_DEV_MUL_THRESH",	double_t,	0, "distance in multiples of std dev", 0, 1.0, 4.0)
12 | gen.add("PASS_X_MIN",				double_t,	0, "Passthrough", 0.0, -10.0, 0.0)
13 | gen.add("PASS_X_MAX",				double_t,	0, "Passthrough", 10.0, -10.0, 10.0)
14 | gen.add("PASS_Y_MIN",				double_t,	0, "Passthrough", -6.0, -10.0, 0.0)
15 | gen.add("PASS_Y_MAX",				double_t,	0, "Passthrough", 6.0, -10.0, 10.0)
16 | gen.add("PASS_Z_MIN",				double_t,	0, "Passthrough", 0.2, -10.0, 0.0)
17 | gen.add("PASS_Z_MAX",				double_t,	0, "Passthrough", 4.0, -10.0, 10.0)
18 | gen.add("OCTREE_WINDOW",			int_t,		0, "octree spatial change comparison", 15, 0, 100)
19 | gen.add("OCTREE_RESOLUTION",			double_t,	0, "octree leaf node size", 0.5, 0.0, 3.0)
20 | gen.add("SEG_CLUSTER_TOLERANCE",		double_t,	0, "Eucledian segmentation cluster tolerance", 0.5, 0.0, 3.0)
21 | gen.add("SEG_MIN_CLUSTER_SIZE",			int_t,		0, "Eucledian segmentation minimum cluster size", 20, 0, 200)
22 | gen.add("SEG_MAX_CLUSTER_SIZE",			int_t,		0, "Eucledian segmentation maximum cluster size", 2500, 0, 10000)
23 | 
24 | exit(gen.generate(PACKAGE, "datmo", "PclParams"))
25 | 


--------------------------------------------------------------------------------
/cfg/velodyne.cfg:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python
 2 | PACKAGE = "dynamic_obstacle_tracking"
 3 | 
 4 | from dynamic_reconfigure.parameter_generator_catkin import *
 5 | 
 6 | gen = ParameterGenerator()
 7 | 
 8 | 
 9 | gen.add("ENABLE_OCCLUSION_DETECTION",				bool_t,		0, "Enable occlusion detection (shadows no detected as dynamic obstacles)", True)
10 | gen.add("PASS_X_MIN",				double_t,	0, "Passthrough", 0.0, -100.0, 0.0)
11 | gen.add("PASS_X_MAX",				double_t,	0, "Passthrough", 20.0, 0.0, 100.0)
12 | gen.add("PASS_Y_MIN",				double_t,	0, "Passthrough", -15.0, -100.0, 0.0)
13 | gen.add("PASS_Y_MAX",				double_t,	0, "Passthrough", 15.0,   0.0, 100.0)
14 | gen.add("PASS_Z_MIN",				double_t,	0, "Passthrough", -0.3, -4.0, 4.0)
15 | gen.add("PASS_Z_MAX",				double_t,	0, "Passthrough", 4.0,  0.0, 10.0)
16 | gen.add("OCTREE_WINDOW",			int_t,		0, "octree spatial change comparison", 5,     1, 10)
17 | gen.add("OCTREE_RESOLUTION",			double_t,	0, "octree leaf node size", 0.4, 0.0, 3.0)
18 | gen.add("SEG_CLUSTER_TOLERANCE",		double_t,	0, "Eucledian segmentation cluster tolerance", 1.5, 0.0, 3.0)
19 | gen.add("SEG_MIN_CLUSTER_SIZE",			int_t,		0, "Eucledian segmentation minimum cluster size", 50, 0, 200)
20 | gen.add("SEG_MAX_CLUSTER_SIZE",			int_t,		0, "Eucledian segmentation maximum cluster size", 2500, 0, 10000)
21 | 
22 | exit(gen.generate(PACKAGE, "dynamic_obstacle_tracking", "velodyne"))
23 | 


--------------------------------------------------------------------------------
/cfg/velodyne.cfg~:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python
 2 | PACKAGE = "dynamic_obstacle_tracking"
 3 | 
 4 | from dynamic_reconfigure.parameter_generator_catkin import *
 5 | 
 6 | gen = ParameterGenerator()
 7 | 
 8 | 
 9 | gen.add("ENABLE_OCCLUSION_DETECTION",				bool_t,		0, "Enable occlusion detection (shadows no detected as dynamic obstacles)", True)
10 | gen.add("PASS_X_MIN",				double_t,	0, "Passthrough", 0.0, -100.0, 0.0)
11 | gen.add("PASS_X_MAX",				double_t,	0, "Passthrough", 20.0, 0.0, 100.0)
12 | gen.add("PASS_Y_MIN",				double_t,	0, "Passthrough", -15.0, -100.0, 0.0)
13 | gen.add("PASS_Y_MAX",				double_t,	0, "Passthrough", 15.0,   0.0, 100.0)
14 | gen.add("PASS_Z_MIN",				double_t,	0, "Passthrough", -0.3, -4.0, 4.0)
15 | gen.add("PASS_Z_MAX",				double_t,	0, "Passthrough", 4.0,  0.0, 10.0)
16 | gen.add("OCTREE_WINDOW",			int_t,		0, "octree spatial change comparison", 5,     1, 10)
17 | gen.add("OCTREE_RESOLUTION",			double_t,	0, "octree leaf node size", 0.4, 0.0, 3.0)
18 | gen.add("SEG_CLUSTER_TOLERANCE",		double_t,	0, "Eucledian segmentation cluster tolerance", 1.5, 0.0, 3.0)
19 | gen.add("SEG_MIN_CLUSTER_SIZE",			int_t,		0, "Eucledian segmentation minimum cluster size", 50, 0, 200)
20 | gen.add("SEG_MAX_CLUSTER_SIZE",			int_t,		0, "Eucledian segmentation maximum cluster size", 2500, 0, 10000)
21 | 
22 | exit(gen.generate(PACKAGE, "dynamic_obstacle_tracking", "velodyne"))
23 | 


--------------------------------------------------------------------------------
/cfg/zr300.cfg:
--------------------------------------------------------------------------------
 1 | #!/usr/bin/env python
 2 | PACKAGE = "dynamic_obstacle_tracking"
 3 | 
 4 | from dynamic_reconfigure.parameter_generator_catkin import *
 5 | 
 6 | gen = ParameterGenerator()
 7 | 
 8 | gen.add("VOXEL_LEAF_SIZE",			double_t,	0, "Voxel leaf size", 0.1, 0, 0.5)
 9 | gen.add("ENABLE_SOR",				bool_t,		0, "Enable Statistical outlier removal", True)
10 | gen.add("ENABLE_OCCLUSION_DETECTION",				bool_t,		0, "Enable occlusion detection (shadows no detected as dynamic obstacles)", True)
11 | gen.add("SOR_MEAN_K",				int_t,		0, "number of neighbors to analyze for each point in SOR", 25, 0, 150)
12 | gen.add("SOR_STD_DEV_MUL_THRESH",	double_t,	0, "distance in multiples of std dev", 1.0, 1.0, 4.0)
13 | gen.add("PASS_X_MIN",				double_t,	0, "Passthrough", 0.0, -10.0, 0.0)
14 | gen.add("PASS_X_MAX",				double_t,	0, "Passthrough", 6.0, 0.0, 10.0)
15 | gen.add("PASS_Y_MIN",				double_t,	0, "Passthrough", -3.0, -10.0, 0.0)
16 | gen.add("PASS_Y_MAX",				double_t,	0, "Passthrough", 3.0,   0.0, 10.0)
17 | gen.add("PASS_Z_MIN",				double_t,	0, "Passthrough", 0.2, -4.0, 4.0)
18 | gen.add("PASS_Z_MAX",				double_t,	0, "Passthrough", 4.0,  0.0, 10.0)
19 | gen.add("OCTREE_WINDOW",			int_t,		0, "octree spatial change comparison", 15, 0, 100)
20 | gen.add("OCTREE_RESOLUTION",			double_t,	0, "octree leaf node size", 0.3, 0.0, 3.0)
21 | gen.add("SEG_CLUSTER_TOLERANCE",		double_t,	0, "Eucledian segmentation cluster tolerance", 0.5, 0.0, 3.0)
22 | gen.add("SEG_MIN_CLUSTER_SIZE",			int_t,		0, "Eucledian segmentation minimum cluster size", 40, 0, 200)
23 | gen.add("SEG_MAX_CLUSTER_SIZE",			int_t,		0, "Eucledian segmentation maximum cluster size", 2500, 0, 10000)
24 | 
25 | exit(gen.generate(PACKAGE, "dynamic_obstacle_tracking", "zr300"))
26 | 


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/docs/_config.yml:
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1 | theme: jekyll-theme-cayman


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/docs/classdatmo_1_1cloud__segmentation.png:
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24 |    <div id="projectname">dynamic_obstacle_tracking
25 |    </div>
26 |    <div id="projectbrief">detectes and track dynamic obstacles in pointcloud</div>
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24 |    <div id="projectname">dynamic_obstacle_tracking
25 |    </div>
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/launch/cloud_segmentation.launch:
--------------------------------------------------------------------------------
 1 | <!-- This launch file does following F**king things:
 2 | 
 3 | 1. Open a rosbag file from the specified location and Remap the topic /zoe/velodyne_points to /bakwas
 4 | 2. Start triclops_stereo_pcl_bag_filters node. It takes image_raw and calibration file and generates pointcloud /zoe/bumblebee_points
 5 | 3. remap topic "/zoe/bumblebee_points" to="/zoe/velodyne_points"
 6 | 4. publish a static tf for bumblebee
 7 | 
 8 | -->
 9 | 
10 | <launch>
11 | 
12 | <!-- <node pkg="rosbag" type="play" name="player" output="screen" args=" /home/anshul/logs/bumblebee/filtered_covered.bag /zoe/velodyne_points:=/bakwas"/> -->
13 | 
14 | <!--/home/anshul/logs/bumblebee/2016_Jun_16-14_06_34.bag filtered.bag 1.395467 -1.67 -0.30 1.35 -->
15 | 
16 | <node pkg="tf" type="static_transform_publisher" name="VLP16_tf_broadcaster" args="0 0 2 0 0.3488 0.034 /vehicle /velodyne 100" />
17 | 
18 | <node pkg="datmo" type="cloud_segmentation_node" name="cloud_segmentation_node" output="screen">
19 | <param name="octree_window" type="int" value="5"/>
20 | </node>
21 | 
22 | 
23 | <!--<node pkg="tf" type="static_transform_publisher" name="Odom_broadcaster" args="0 0 0 0 0 0 /base_link /odom_tf 100" />-->
24 | </launch>
25 | 


--------------------------------------------------------------------------------
/launch/quanergy_segmentation.launch:
--------------------------------------------------------------------------------
 1 | <!-- This launch file does following F**king things:
 2 | 
 3 | 1. Open a rosbag file from the specified location and Remap the topic /zoe/velodyne_points to /bakwas
 4 | 2. Start triclops_stereo_pcl_bag_filters node. It takes image_raw and calibration file and generates pointcloud /zoe/bumblebee_points
 5 | 3. remap topic "/zoe/bumblebee_points" to="/zoe/velodyne_points"
 6 | 4. publish a static tf for bumblebee
 7 | 
 8 | -->
 9 | 
10 | <launch>
11 | 
12 | <!-- <node pkg="rosbag" type="play" name="player" output="screen" args=" /home/anshul/logs/bumblebee/filtered_covered.bag /zoe/velodyne_points:=/bakwas"/> -->
13 | 
14 | <!--/home/anshul/logs/bumblebee/2016_Jun_16-14_06_34.bag filtered.bag 1.395467 -1.67 -0.30 1.35 -->
15 | 
16 | <!-- <node pkg="tf" type="static_transform_publisher" name="VLP16_tf_broadcaster" args="0 0 2 0 0.3488 0.034 /vehicle /velodyne 100" /> -->
17 | 
18 | <node pkg="dynamic_obstacle_tracking" type="velodyne_node" name="velodyne_node" output="screen">
19 | <remap from="/cloud"  to="/Sensor1/pc_Sensor1"/>
20 | <param name="frame_id" type="string" value="/odom"/>
21 | <param name="base_frame_id" type="string" value="/base_link"/>
22 | <param name="sensor_frame_id" type="string" value="/Sensor1"/>
23 | </node>
24 | 
25 | 
26 | <node pkg="tf" type="static_transform_publisher" name="Odom_broadcaster" args="0 0 0 0 0 0 /base_link /Body 100" />
27 | <node pkg="dynamic_obstacle_tracking" type="mot.py" name="mot" output="screen" />
28 | </launch>
29 | 


--------------------------------------------------------------------------------
/launch/velodyne_segmentation.launch:
--------------------------------------------------------------------------------
 1 | <!-- This launch file does following F**king things:
 2 | 
 3 | 1. Open a rosbag file from the specified location and Remap the topic /zoe/velodyne_points to /bakwas
 4 | 2. Start triclops_stereo_pcl_bag_filters node. It takes image_raw and calibration file and generates pointcloud /zoe/bumblebee_points
 5 | 3. remap topic "/zoe/bumblebee_points" to="/zoe/velodyne_points"
 6 | 4. publish a static tf for bumblebee
 7 | 
 8 | -->
 9 | 
10 | <launch>
11 | 
12 | <!-- <node pkg="rosbag" type="play" name="player" output="screen" args=" /home/anshul/logs/bumblebee/filtered_covered.bag /zoe/velodyne_points:=/bakwas"/> -->
13 | 
14 | <!--/home/anshul/logs/bumblebee/2016_Jun_16-14_06_34.bag filtered.bag 1.395467 -1.67 -0.30 1.35 -->
15 | 
16 | <!-- <node pkg="tf" type="static_transform_publisher" name="VLP16_tf_broadcaster" args="0 0 2 0 0.3488 0.034 /vehicle /velodyne 100" /> -->
17 | 
18 | 
19 | <node pkg="gps_common" type="gps_to_tf" name="gps_to_tf" output="screen" />
20 | <node pkg="tf" type="static_transform_publisher" name="Odom_broadcaster" args="0 0 -2.5 0 0 0 /base_link /vlp16 30 "/>
21 | 
22 | <node pkg="dynamic_obstacle_tracking" type="velodyne_node" name="velodyne_node" output="screen">
23 | <remap from="/cloud"  to="/velodyne_points"/>
24 | <param name="frame_id" type="string" value="/odom"/>
25 | <param name="base_frame_id" type="string" value="/base_link"/>
26 | <param name="sensor_frame_id" type="string" value="/velodyne_temp"/>
27 | </node>
28 | 
29 | 
30 | <node pkg="dynamic_obstacle_tracking" type="mot.py" name="mot" output="screen" />
31 | 
32 | 
33 | 
34 | </launch>
35 | 


--------------------------------------------------------------------------------
/launch/zr300_segmentation.launch:
--------------------------------------------------------------------------------
 1 | <!-- This launch file does following F**king things:
 2 | 
 3 | 1. Open a rosbag file from the specified location and Remap the topic /zoe/velodyne_points to /bakwas
 4 | 2. Start triclops_stereo_pcl_bag_filters node. It takes image_raw and calibration file and generates pointcloud /zoe/bumblebee_points
 5 | 3. remap topic "/zoe/bumblebee_points" to="/zoe/velodyne_points"
 6 | 4. publish a static tf for bumblebee
 7 | 
 8 | -->
 9 | 
10 | <launch>
11 | 
12 | <!-- <node pkg="rosbag" type="play" name="player" output="screen" args=" /home/anshul/logs/bumblebee/filtered_covered.bag /zoe/velodyne_points:=/bakwas"/> -->
13 | 
14 | <!--/home/anshul/logs/bumblebee/2016_Jun_16-14_06_34.bag filtered.bag 1.395467 -1.67 -0.30 1.35 -->
15 | 
16 | <!-- <node pkg="tf" type="static_transform_publisher" name="VLP16_tf_broadcaster" args="0 0 2 0 0.3488 0.034 /vehicle /velodyne 100" /> -->
17 | 
18 | <node pkg="dynamic_obstacle_tracking" type="zr300_node" name="zr300_node" output="screen" >
19 | 
20 |     <remap from="/cloud"  to="/camera/depth/points"/>
21 |     <param name="frame_id" type="string" value="/odom"/>
22 |     <param name="base_frame_id" type="string" value="/base_link"/>
23 |     <param name="sensor_frame_id" type="string" value="/camera_depth_optical_frame"/>
24 | 
25 | </node>
26 | 
27 | <node pkg="dynamic_obstacle_tracking" type="mot.py" name="mot" output="screen" />
28 | 
29 | 
30 | <!--<node pkg="tf" type="static_transform_publisher" name="Odom_broadcaster" args="0 0 0 0 0 0 /base_link /odom_tf 100" />-->
31 | </launch>
32 | 


--------------------------------------------------------------------------------
/src/velodyne_node.cpp:
--------------------------------------------------------------------------------
  1 | #include <ros/ros.h>
  2 | #include <dynamic_obstacle_tracking/dynamic_obstacle_tracking.hpp>
  3 | #include <dynamic_obstacle_tracking/velodyneConfig.h>
  4 | 
  5 | 
  6 | 
  7 | using namespace datmo;
  8 | 
  9 | 
 10 | 
 11 |     class Velodyne: public cloud_segmentation{
 12 | 
 13 |     public:
 14 | 	    Velodyne();
 15 | 	    ~Velodyne();
 16 | 	    void init(ros::NodeHandle &nh, ros::NodeHandle &private_nh);
 17 | 
 18 | 	protected:
 19 | 
 20 |         dynamic_reconfigure::Server<dynamic_obstacle_tracking::velodyneConfig> server;
 21 |         dynamic_reconfigure::Server<dynamic_obstacle_tracking::velodyneConfig>::CallbackType cb_type;
 22 | 
 23 | 	private:
 24 |         void dynamic_reconfigure_cb(dynamic_obstacle_tracking::velodyneConfig &config, uint32_t level);
 25 |     };
 26 | 
 27 | 
 28 | 
 29 |     Velodyne::Velodyne(){};
 30 |     Velodyne::~Velodyne(){};
 31 | 
 32 |     //dynamic reconfigure callback
 33 |     void Velodyne::dynamic_reconfigure_cb(dynamic_obstacle_tracking::velodyneConfig &config, uint32_t level)
 34 |     {
 35 |         ENABLE_OCCLUSION_DETECTION = config.ENABLE_OCCLUSION_DETECTION;
 36 |         PASS_X_MIN = config.PASS_X_MIN;
 37 |         PASS_X_MAX = config.PASS_X_MAX;
 38 |         PASS_Y_MIN = config.PASS_Y_MIN;
 39 |         PASS_Y_MAX = config.PASS_Y_MAX;
 40 |         PASS_Z_MIN = config.PASS_Z_MIN;
 41 |         PASS_Z_MAX = config.PASS_Z_MAX;
 42 |         OCTREE_WINDOW = config.OCTREE_WINDOW;
 43 |         OCTREE_RESOLUTION = config.OCTREE_RESOLUTION;
 44 |         SEG_CLUSTER_TOLERANCE = config.SEG_CLUSTER_TOLERANCE;
 45 |         SEG_MIN_CLUSTER_SIZE = config.SEG_MIN_CLUSTER_SIZE;
 46 |         SEG_MAX_CLUSTER_SIZE = config.SEG_MAX_CLUSTER_SIZE;
 47 |     }
 48 | 
 49 |     void Velodyne::init(ros::NodeHandle &nh, ros::NodeHandle &private_nh){
 50 | 
 51 |         PASS_X_MIN = 0.0; /**< minimum value of x */
 52 |         PASS_X_MAX = 20.0; ///< maximum value of x
 53 |         PASS_Y_MIN = -15.0;
 54 |         PASS_Y_MAX = 15.0;
 55 |         PASS_Z_MIN = -0.3;
 56 |         PASS_Z_MAX = 4.0;
 57 |         //plane segmentation params
 58 |         OCTREE_WINDOW = 5;
 59 |         OCTREE_RESOLUTION = 0.4;
 60 |         //segmentation params
 61 |         SEG_CLUSTER_TOLERANCE = 1.5;
 62 |         SEG_MIN_CLUSTER_SIZE = 50;
 63 |         SEG_MAX_CLUSTER_SIZE = 2500;
 64 | 
 65 |         ENABLE_ICP = false;
 66 |         ENABLE_GROUND_REMOVAL  = true;
 67 |         ENABLE_VOXELISE = false;
 68 |         ENABLE_SOR = false;
 69 |         ENABLE_OCCLUSION_DETECTION  = false;
 70 | 
 71 |         private_nh.param("frame_id", frame_id,  std::string("/odom"));
 72 |         private_nh.param("base_frame_id", base_frame_id,  std::string("/base_link"));
 73 |         private_nh.param("sensor_frame_id", sensor_frame_id,  std::string("/vlp16"));
 74 | 
 75 | 
 76 |         cb_type = boost::bind(&Velodyne::dynamic_reconfigure_cb, this, _1, _2);
 77 |         server.setCallback(cb_type);
 78 |         cloud_segmentation::init(nh,private_nh);
 79 |     }
 80 | 
 81 | 
 82 | 
 83 | 
 84 | 
 85 | 
 86 | 
 87 | 
 88 | 
 89 | //.................
 90 | 
 91 | 
 92 | int main(int argc, char **argv)
 93 | {
 94 |   ros::init(argc, argv, "cloud_segmentation");
 95 |   ros::NodeHandle nh;
 96 |   ros::NodeHandle private_nh("~");
 97 | 
 98 |   Velodyne velodyne;
 99 |   velodyne.init(nh,private_nh);
100 | 
101 | 
102 |   // cloud_segmentation seg;
103 |   // seg.init(nh,private_nh);
104 | 
105 |   ros::spin();
106 |   return 0;
107 | 
108 | }
109 | 


--------------------------------------------------------------------------------
/src/zr300_node.cpp:
--------------------------------------------------------------------------------
  1 | #include <ros/ros.h>
  2 | #include <dynamic_obstacle_tracking/dynamic_obstacle_tracking.hpp>
  3 | #include <dynamic_obstacle_tracking/zr300Config.h>
  4 | 
  5 | 
  6 | 
  7 | using namespace datmo;
  8 | 
  9 | 
 10 | 
 11 |     class ZR300: public cloud_segmentation{
 12 | 
 13 |     public:
 14 | 	    ZR300();
 15 | 	    ~ZR300();
 16 | 	    void init(ros::NodeHandle &nh, ros::NodeHandle &private_nh);
 17 | 
 18 | 	protected:
 19 | 
 20 |         dynamic_reconfigure::Server<dynamic_obstacle_tracking::zr300Config> server;
 21 |         dynamic_reconfigure::Server<dynamic_obstacle_tracking::zr300Config>::CallbackType cb_type;
 22 | 
 23 | 	private:
 24 |         void dynamic_reconfigure_cb(dynamic_obstacle_tracking::zr300Config &config, uint32_t level);
 25 |     };
 26 | 
 27 | 
 28 | 
 29 |     ZR300::ZR300(){};
 30 |     ZR300::~ZR300(){};
 31 | 
 32 |     //dynamic reconfigure callback
 33 |     void ZR300::dynamic_reconfigure_cb(dynamic_obstacle_tracking::zr300Config &config, uint32_t level)
 34 |     {
 35 |         VOXEL_LEAF_SIZE = config.VOXEL_LEAF_SIZE;
 36 |         ENABLE_SOR = config.ENABLE_SOR;
 37 |         ENABLE_OCCLUSION_DETECTION = config.ENABLE_OCCLUSION_DETECTION;
 38 |         SOR_MEAN_K = config.SOR_MEAN_K;
 39 |         SOR_STD_DEV_MUL_THRESH = config.SOR_STD_DEV_MUL_THRESH;
 40 |         PASS_X_MIN = config.PASS_X_MIN;
 41 |         PASS_X_MAX = config.PASS_X_MAX;
 42 |         PASS_Y_MIN = config.PASS_Y_MIN;
 43 |         PASS_Y_MAX = config.PASS_Y_MAX;
 44 |         PASS_Z_MIN = config.PASS_Z_MIN;
 45 |         PASS_Z_MAX = config.PASS_Z_MAX;
 46 |         OCTREE_WINDOW = config.OCTREE_WINDOW;
 47 |         OCTREE_RESOLUTION = config.OCTREE_RESOLUTION;
 48 |         SEG_CLUSTER_TOLERANCE = config.SEG_CLUSTER_TOLERANCE;
 49 |         SEG_MIN_CLUSTER_SIZE = config.SEG_MIN_CLUSTER_SIZE;
 50 |         SEG_MAX_CLUSTER_SIZE = config.SEG_MAX_CLUSTER_SIZE;
 51 |     }
 52 | 
 53 |     void ZR300::init(ros::NodeHandle &nh, ros::NodeHandle &private_nh){
 54 |         ENABLE_VOXELISE = true;
 55 |         VOXEL_LEAF_SIZE = 0.15;
 56 |         //Statistical outlier parameters
 57 |         ENABLE_SOR = true;
 58 |         SOR_MEAN_K = 25;              //number of neighbors to analyze for each point
 59 |         SOR_STD_DEV_MUL_THRESH = 1.0; //distance in multiples of std dev after which point is considered an outlier
 60 |         //Passthrough filter parameters
 61 |         PASS_X_MIN = 6.0;
 62 |         PASS_X_MAX = 0.0;
 63 |         PASS_Y_MIN = -3.0;
 64 |         PASS_Y_MAX = 3.0;
 65 |         PASS_Z_MIN = 0.2;
 66 |         PASS_Z_MAX = 4.0;
 67 |         //plane segmentation params
 68 |         OCTREE_WINDOW = 15;
 69 |         OCTREE_RESOLUTION = 0.3;
 70 |         //segmentation params
 71 |         SEG_CLUSTER_TOLERANCE = 0.5;
 72 |         SEG_MIN_CLUSTER_SIZE = 40;
 73 |         SEG_MAX_CLUSTER_SIZE = 2500;
 74 | 
 75 |         ENABLE_ICP = false;
 76 |         ENABLE_GROUND_REMOVAL  = false;
 77 | 
 78 |         ENABLE_OCCLUSION_DETECTION  = true;
 79 | 
 80 | 
 81 |         private_nh.param("frame_id", frame_id,  std::string("/odom"));
 82 |         private_nh.param("base_frame_id", base_frame_id,  std::string("/base_link"));
 83 |         private_nh.param("sensor_frame_id", sensor_frame_id,  std::string("/camera_depth_optical_frame"));
 84 | 
 85 |         cb_type = boost::bind(&ZR300::dynamic_reconfigure_cb, this, _1, _2);
 86 |         server.setCallback(cb_type);
 87 |         cloud_segmentation::init(nh,private_nh);
 88 |     }
 89 | 
 90 | 
 91 | 
 92 | 
 93 | 
 94 | 
 95 | 
 96 | 
 97 | 
 98 | //.................
 99 | 
100 | 
101 | int main(int argc, char **argv)
102 | {
103 |   ros::init(argc, argv, "cloud_segmentation");
104 |   ros::NodeHandle nh;
105 |   ros::NodeHandle private_nh("~");
106 | 
107 |   ZR300 zr300;
108 |   zr300.init(nh,private_nh);
109 | 
110 | 
111 |   // cloud_segmentation seg;
112 |   // seg.init(nh,private_nh);
113 | 
114 |   ros::spin();
115 |   return 0;
116 | 
117 | }
118 | 


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