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Actual barrel segmentation #569
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area ➤ computer vision
Issues relating to non-NN computer vision
level ➤ medium
Medium difficulty issues.
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type ➤ new feature
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FZ2000
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FZ2000
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* Add design doc for actual_arrel_segmentationn issue #569 * Update actual barrel segmentation: Add short description on the clustering algorithm * Add pseudocode for clustering algorithm * Fix Rendering * Fix Rendering * Fix Rendering * Add a file to test the build in Euclidean Cluster Extraction from PCL * Update Cmake file and add header file for actual barrel detection * Finish up the visualization * Finish the barrel detention (Single only) * Run make format * Update actual barrel segmentation Update actual barrel segmentation to launch pointcloud_filter.launch with the actual barrel segmentation launch file Co-authored-by: Paul Case <poc.kcchiefs@gmail.com>
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While #474 does ground plane segmentation, it only separates the pointcloud into groundplane and non-groundplane. It would be nice to be able to "cluster" barrels into separate groups, so that we can potentially use the information for things like SLAM.
AC: Separated barrels into individual groups, extract information such as position, num of barrels etc.
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