Use the following commands to download and compile the package.
cd ~/[your_ws]/src
git clone https://github.com/dobaybalazs/curb_detection.git
catkin build curb_detection
In a new terminal start roscore with the following command:
roscore
In the Launch file, change the following params according to your sensor settings:
<param name="input_topic" type="string" value="/os_cloud_node/points" />
<param name="point_number" type="int" value="2048" />
<param name="channel_number" type="int" value="128" />
<param name="frame_id" type="string" value="/base_link" />Then start the program in a separate terminal:
roslaunch curb_detection curb_detection.launch
A tab will pop up after that,that contains all the parameters with their default values, which looks like this:
| Params | Description |
|---|---|
| useBoxFilter | Should a box-filter be used |
| max_x | Maximal X value |
| min_x | Minimal X value |
| max_y | Maximal Y value |
| min_y | Minimal Y value |
| max_z | Maximal Z value |
| min_z | Minimal Z value |
| min_rad | Minimal distance from the vehicle |
| filter_a | Should filtering based on ambient gradient values be used |
| mult_a | Ambient gradient value multiplier |
| max_a | Maximum ambient threshold |
| min_a | Minimum ambient threshold |
| filter_i | Should filtering based on intensity gradient values be used |
| mult_i | Intensity gradient value multiplier |
| max_i | Maximum intensity threshold |
| min_i | Minimum intensity threshold |
| filter_ra | Should filtering based on range gradient values be used |
| mult_ra | Range gradient value multiplier |
| max_ra | Maximum range threshold |
| min_ra | Minimum range threshold |
| filter_re | Should filtering based on reflectivity gradient values be used |
| mult_re | Reflectivity gradient value multiplier |
| max_re | Maximum reflectivity threshold |
| min_re | Minimum reflectivity threshold |
| filter_z | Should filtering based on Z gradient values be used |
| mult_z | Z gradient value multiplier |
| max_zd | Maximum Z threshold |
| min_zd | Minimum Z threshold |
| filter_angle | Should filtering based on angle gradient values be used |
| mult_angle | Angle gradient value multiplier |
| angle_wd_size | Sliding window size |
| max_angle | Maximum angle threshold |
| min_angle | Minimum angle threshold |
| filter_dist | Should filtering based on distance gradient values be used |
| mult_dist | Distance gradient value multiplier |
| dist_wd_size | Sliding window size |
| max_dist | Maximum distance threshold |
| min_dist | Minimum distance threshold |
| filter_ransac | Should RANSAC be used |
| ransac_dist | RANSAC distance threshold |
| rradius_min | RANSAC minimum radius threshold |
| rradius_max | RANSAC maximum radius threshold |