airlab_segment

This is an ROS package implementation that is composed of Euclidean Clustering and Region Growing algorithms in PointCloud Library.

The node can be used as a standalone 3D segmentation algorithm or as an data source to Violet

License

Violet is licensed with GPL Version 3 or later.

Compilation instructions

To compile airlab_segment package, you can clone this repository directly under your catkin workspace.

Compile time build options

Location postfiltering

-DENABLE_LOCATION_POSTFILTERING CMake switch enables/disables building location postfiltering for defining a workspace for segmentation results. It's by default enabled.

Nodes

euclidean_segmenter

Parameters

• input_pc_topic : String The input point cloud topic Default: camera/depth_registered/points

• world_tf_frame : String The destination frame for published segments. Default: world

• camera_tf_frame : String The optical frame in which camera message published. Default: camera_rgb_optical_frame

• register_to_violet : Bool Whether register to Violet as an input source Default: true

• violet_namespace : String Violet namespace that used in registering this node as an input source Default: violet

• vis_pc_publish_topic : String The topic name for publishing visualization cloud Default: segmented_cloud