KITTI Node

A ROS2 package for processing KITTI dataset camera and LiDAR data, providing Canny edge detection for images and voxel filtering with clustering for point clouds.

Overview

This package contains two main nodes:

• camera_node: Processes KITTI camera images with Canny edge detection
• lidar_node: Processes KITTI point cloud data with voxel filtering and Euclidean clustering

Prerequisites

Before running the nodes, ensure you have the following dependencies installed:

System Dependencies

sudo apt update
sudo apt install libpcl-dev libopencv-dev

ROS2 Dependencies

• rclcpp
• sensor_msgs
• pcl_conversions
• pcl_ros
• cv_bridge
• image_transport

Building

1. Navigate to your ROS2 workspace:

cd ~/ros2_ws

1. Build the package:

colcon build --packages-select kitti_node

1. Source the workspace:

source install/setup.bash

Nodes

Camera Node

Processes KITTI camera images and applies Canny edge detection.

Camera Subscribed Topics

• /kitti/image/color/left (sensor_msgs/Image): Input color camera images

Camera Published Topics

• /kitti/image/canny/left (sensor_msgs/Image): Canny edge-detected images

Camera Parameters

• canny_threshold1 (double, default: 100.0): Lower threshold for Canny edge detection
• canny_threshold2 (double, default: 200.0): Upper threshold for Canny edge detection
• canny_aperture_size (int, default: 3): Aperture size for Sobel operator in Canny detection

Running the Camera Node

ros2 run kitti_node camera_node

Running Camera Node with Custom Parameters

ros2 run kitti_node camera_node --ros-args -p canny_threshold1:=50.0 -p canny_threshold2:=150.0 -p canny_aperture_size:=5

LiDAR Node

Processes KITTI point cloud data with voxel grid filtering and Euclidean clustering.

LiDAR Subscribed Topics

• kitti/point_cloud (sensor_msgs/PointCloud2): Input point cloud data

LiDAR Published Topics

• kitti/voxel_cloud (sensor_msgs/PointCloud2): Voxel-filtered point cloud
• kitti/clustered_cloud (sensor_msgs/PointCloud2): Clustered point cloud

LiDAR Parameters

• leaf_size_x (double, default: 0.2): Voxel grid leaf size in X direction (meters)
• leaf_size_y (double, default: 0.2): Voxel grid leaf size in Y direction (meters)

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