This repo contains all the functions, libraries which were used in the previous projects. There are some main functions such as:
(1) planar filter,
(2) segmentation,
(3) Centroid for each in a cluster set
(4) Point Cloud Boundary
(5) Area check
(6) Pose Estimation
(7) Plane's Height check
(8) Path Availability in Mobile Transformation \
- To get a stable point cloud data, we should combine the data in several time, then mesh the pointclouds into one. THe processing on the aggregated one is more stable than a single one.\
The program works on ROS-Service approach. All functions are in the pahap.cpp file, which operates as a server. To trigger the service, the program pcl_pahap_client.cpp is invoked. It called the pahap server, and return a pose for the robot to move.\
The launch file is not stable -> check! \
The point cloud data input as the image below (Depth data - left, RGB image - right):
Objects obtained after preprocessing:
