Shape Estimation

L-shape fitting implementation of the paper:

@conference{Zhang-2017-26536,
author = {Xiao Zhang and Wenda Xu and Chiyu Dong and John M. Dolan},
title = {Efficient L-Shape Fitting for Vehicle Detection Using Laser Scanners},
booktitle = {2017 IEEE Intelligent Vehicles Symposium},
year = {2017},
month = {June},
keywords = {autonomous driving, laser scanner, perception, segmentation},
} 

How to launch

From RTM

Computing tab -> Detection -> lidar_detector -> lidar_shape_estimation

Configure parameters using the [app] button.

From the command line

From a sourced command line: roslaunch lidar_shape_estimation shape_estimation_clustering.launch

Launch files also include the visualization node.

Requirements

1. LiDAR data segmented.
2. Objects

Parameters

Usage example

1. Launch a ground filter algorithm from the Points Preprocessor section in the Sensing tab. (adjust the parameters to your vehicle setup).
2. Launch a Lidar Detector from the Computing tab.
3. Launch this node.

Node info

Node [/lidar_shape_estimation]
Publications: 
 * /detection/shape_estimation/objects [autoware_msgs/DetectedObjectArray]

Subscriptions: 
 * /detection/lidar_detector/objects [autoware_msgs/DetectedObjectArray]
 
-------------------------
Node [/detection/shape_estimation/shape_estimation_visualization]
Publications: 
 * /detection/shape_estimation/objects_markers [visualization_msgs/MarkerArray]

Subscriptions: 
 * /detection/shape_estimation/objects [autoware_msgs/DetectedObjectArray]

Changelog for package lidar_shape_estimation

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)

  • Initial fixes to detection, sensing, semantics and utils

  • fixing wrong filename on install command

  • Fixes to install commands

  • Hokuyo fix name

  • Fix obj db

  • Obj db include fixes

  • End of final cleaning sweep

  • Incorrect command order in runtime manager

  • Param tempfile not required by runtime_manager

  • • Fixes to runtime manager install commands

  • Remove devel directory from catkin, if any

  • Updated launch files for robosense

  • Updated robosense

  • Fix/add missing install (#1977)

  • Added launch install to lidar_kf_contour_track

  • Added install to op_global_planner

  • Added install to way_planner

  • Added install to op_local_planner

  • Added install to op_simulation_package

  • Added install to op_utilities

  • Added install to sync

  • • Improved installation script for pointgrey packages

  • Fixed nodelet error for gmsl cameras

  • USe install space in catkin as well

  • add install to catkin

  • Fix install directives (#1990)

  • Fixed installation path

  • Fixed params installation path

  • Fixed cfg installation path

  • Delete cache on colcon_release

• Added explanation for unavailable model

• Deleted redundant folder (#1894)

• README typo

• • Added Readme
  • Fixed RTM launch command

• clang format applied

• • Fix install commands
  • Fix license

• add license in test code

• add test code

• Removed unnecessary dependencies

• Removed unneccesary dependencies

• move lidar_shape_estimation into object_filter

• Contributors: Abraham Monrroy Cano, Servando, Yukihiro SAITO, Yukihiro Saito, amc-nu