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A catkin workspace in ROS which uses DBSCAN to identify which points in a point cloud belong to the same object.

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point-cloud-clusters

I apply a clustering technique called DBSCAN to identify which points in a point cloud belong to the same object.

Important Files

Related links

You can learn more about PCL here. You can learn more about DBSCAN in the following links:

Dependencies

  • You need an Ubuntu 16.04.2 with ROS full-desktop-version which includes RViz and Gazebo
  • You must clone the repository, go inside the directory and install the dependencies:
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
$ catkin_make
  • Add the following to your .bashrc file:
export GAZEBO_MODEL_PATH=~/catkin_ws/src/sensor_stick/models
source ~/catkin_ws/devel/setup.bash

How to Run

  • On one terminal run $ roslaunch sensor_stick robot_spawn.launch
  • On another terminal go inside /src/sensor_stick/scripts/ folder in this repository
  • Then run $ python clustering.py
  • RViz should run, select the /pcl_cluster from the Topics dropdown

Clustered Objects Clustered Objects

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A catkin workspace in ROS which uses DBSCAN to identify which points in a point cloud belong to the same object.

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