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增加地面分割/矫正功能 #23

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OuyangJunyuan wants to merge 2 commits into halostorm:master from OuyangJunyuan:master

OuyangJunyuan commented Dec 22, 2021

为原来的PCAT增加了如下功能:

矫正地面按钮: 点击后(清空当前标注)并重新初始化, 同时检测地面出.根据检测出的地面拟合平面.根据拟合平面矫正点云使得地平面水平, 同时平移点云使得地面中心保持在地面一定高度上(对3D检测保持z轴高度非常重要). 当按钮激活期间, 后续的其他帧点云会自动在加载时就完成矫正.
参数设置栏目: 当矫正按钮激活时, 在输入栏回车可以更新参数并(清空当前标注)重新初始化本次点云然后检测地面.
显示栏:增加地面显示按钮.当矫正地面和显示点云功能激活时显示地面点云.

效果如图

保持点云水平并距离地面1.7m(KITTI). 下图为显示地面状态.

当然也可以关闭显示地面.

OuyangJunyuan added 2 commits

December 22, 2021 20:05


          合并提交: bridge rviz plugin frontend and algorithm backend

de6d699


          fix bug: fail to display ground point

ce7d2e4

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