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L-shape Fitting for 3D LiDAR Point Clouds

An ROS implementation for L-shape fitting for 3D LiDAR point clouds

Ubuntu ROS C++

demo_1

Reference

  • Efficient L-Shape Fitting for Vehicle Detection Using Laser Scanners
  • Autoware: core perception

Features

  • slow

TODOs

  • imporove the running speed

Known Issues

  • the fitting is slow

Dependencies

  • pcl

How to use

# clone the repo
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/HMX2013/L-shape-fitting-3D-LiDAR-ROS
cd ../
catkin build -DCMAKE_BUILD_TYPE=Release 
or catkin_make
roslaunch l_shape_fitting run_rviz.launch

Contribution

You are welcome contributing to the package by opening a pull-request

We are following: Google C++ Style Guide, C++ Core Guidelines, and ROS C++ Style Guide

License

MIT License