nureinniemand / lidar_processing

A ros based library for point cloud processing

A Simple Readme

A ros based library for lidar data processing. The package is splitted into 2 parts:

1. logic: data structure and algorithm without ROS dependency.
2. ros: ros nodes and data convertors act like bridges between ROS and logic code.

Planned functions

• Internal point cloud container for convienient data processing
• SD point cloud segementation method by D. Streller & K. Dietmayer
• Grid map structure for history of static environment model
• Grid map based dynamic classification of point cloud
• 3D bounding box generation from segmented point cloud
• 3D bounding box tracking module

How to compile

catkin config --source-space src/

catkin build