From c2b990357af840c6da9389f3cb267b6a8765fdd5 Mon Sep 17 00:00:00 2001 From: SS47816 Date: Fri, 19 Jan 2024 12:46:01 +0800 Subject: [PATCH] docs: updated README.md --- README.md | 60 +++++++++++++++++++++++++++++++------------------------ 1 file changed, 34 insertions(+), 26 deletions(-) diff --git a/README.md b/README.md index 5392b26..8ef6375 100644 --- a/README.md +++ b/README.md @@ -2,50 +2,52 @@ 3D LiDAR Object Detection & Tracking using Euclidean Clustering & Hungarian algorithm -[![CodeFactor](https://www.codefactor.io/repository/github/ss47816/lidar_obstacle_detector/badge)](https://www.codefactor.io/repository/github/ss47816/lidar_obstacle_detector) -![Code Grade](https://api.codiga.io/project/30668/status/svg) -![Code Quality Score](https://api.codiga.io/project/30668/score/svg) -![GitHub Repo stars](https://img.shields.io/github/stars/ss47816/lidar_obstacle_detector?color=FFE333) -![GitHub Repo forks](https://img.shields.io/github/forks/ss47816/lidar_obstacle_detector?color=FFE333) - ![Ubuntu](https://img.shields.io/badge/OS-Ubuntu-informational?style=flat&logo=ubuntu&logoColor=white&color=2bbc8a) ![ROS](https://img.shields.io/badge/Tools-ROS-informational?style=flat&logo=ROS&logoColor=white&color=2bbc8a) ![C++](https://img.shields.io/badge/Code-C++-informational?style=flat&logo=c%2B%2B&logoColor=white&color=2bbc8a) +[![CodeFactor](https://www.codefactor.io/repository/github/ss47816/lidar_obstacle_detector/badge)](https://www.codefactor.io/repository/github/ss47816/lidar_obstacle_detector) +![GitHub Repo stars](https://img.shields.io/github/stars/ss47816/lidar_obstacle_detector?color=FFE333) +![GitHub Repo forks](https://img.shields.io/github/forks/ss47816/lidar_obstacle_detector?color=FFE333) ![demo_1](media/demo_1.gif) ![demo_2](media/demo_2.gif) ## Features -* Segmentation of ground plane and obstacle point clouds -* Customizable Region of Interest (ROI) for obstacle detection -* Customizable region for removing ego vehicle points from the point cloud -* Tracking of obstacles between frames using IOU gauge and Hungarian algorithm -* In order to help you tune the parameters to suit your own applications better, all the key parameters of the algorithm are controllable in live action using the ros param dynamic reconfigure feature + +- Segmentation of ground plane and obstacle point clouds +- Customizable Region of Interest (ROI) for obstacle detection +- Customizable region for removing ego vehicle points from the point cloud +- Tracking of obstacles between frames using IOU gauge and Hungarian algorithm +- In order to help you tune the parameters to suit your own applications better, all the key parameters of the algorithm are controllable in live action using the ros param dynamic reconfigure feature **TODOs** -* LiDAR pointcloud motion undistortion -* Drive Space/Kurb Segmentation -* Refine PCA Bounding Boxes by L-Shape fitting -* Add trackers such as UKF + +- LiDAR pointcloud motion undistortion +- Drive Space/Kurb Segmentation +- Refine PCA Bounding Boxes by L-Shape fitting +- Add trackers such as UKF **Known Issues** -* PCA Bounding Boxes might not be accurate in certain situations + +- PCA Bounding Boxes might not be accurate in certain situations ## Dependencies -* autoware-msgs -* jsk-recognition-msgs + +- autoware-msgs +- jsk-recognition-msgs ## Installation + ```bash # clone the repo cd catkin_ws/src git clone https://github.com/SS47816/lidar_obstacle_detector.git -# install dependencies & build +# install dependencies & build cd .. rosdep install --from-paths src --ignore-src -r -y -catkin_make +catkin_make # or catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 source devel/setup.bash ``` @@ -58,12 +60,14 @@ source devel/setup.bash **Step 1**: Download the `mai_city` dataset from their [Official Website](https://www.ipb.uni-bonn.de/data/mai-city-dataset/) **Step 2**: Launch the nodes using the `mai_city.launch` launch file + ```bash # this will launch the obstacle_detector node, rviz, and rqt_reconfigure GUI together roslaunch lidar_obstacle_detector mai_city.launch ``` **Step 3**: Run any of the bags from the dataset + ```bash # go to the folder where the dataset is located cd mai_city/bags @@ -75,22 +79,26 @@ rosbag play 00.bag ![demo_lgsvl](media/lgsvl.gif) -**Step 1**: Launch the LGSVL simulator and `lgsvl_utils` nodes +**Step 1**: Launch the LGSVL simulator and `lgsvl_utils` nodes + > Please refer this step to the [`README` Usage Section](https://github.com/SS47816/lgsvl_utils) of the `lgsvl_utils` pkg **Step 2**: Launch the nodes using the `launch/lgsvl.launch` launch file + ```bash # launch node -roslaunch lidar_obstacle_detector lgsvl.launch +roslaunch lidar_obstacle_detector lgsvl.launch ``` ## Contribution + You are welcome contributing to the package by opening a pull-request -We are following: -[Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html), -[C++ Core Guidelines](https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#main), +We are following: +[Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html), +[C++ Core Guidelines](https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#main), and [ROS C++ Style Guide](http://wiki.ros.org/CppStyleGuide) ## License -MIT License \ No newline at end of file + +MIT License