ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.12.0 |
| License | Apache |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | autoware src learn and recode. |
| Checkout URI | https://github.com/is-whale/autoware_learn.git |
| VCS Type | git |
| VCS Version | 1.14 |
| Last Updated | 2025-03-14 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
This package implements an L-Shaped PointCloud pose estimation
Additional Links
No additional links.
Maintainers
- Yukihiro Saito
Authors
No additional authors.
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
- LiDAR data segmented.
- Objects
Parameters
| Parameter | Type | Description | Default |
|---|---|---|---|
input |
String | Topic name containing the objects detected by the Lidar in 3D space. | /detection/lidar_detector/objects |
output |
String | Topic name containing the objects with the shape estimated in 3D space. | /detection/lidar_shape_estimation/objects |
Usage example
- Launch a ground filter algorithm from the
Points Preprocessorsection in the Sensing tab. (adjust the parameters to your vehicle setup). - Launch a Lidar Detector from the Computing tab.
- 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
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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| autoware_build_flags | |
| catkin | |
| rostest | |
| rosunit | |
| autoware_msgs | |
| pcl_ros | |
| roscpp | |
| roslint | |
| tf2 | |
| tf2_geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/shape_estimation_clustering.launch
-
- namespace [default: detection]
- packagename [default: shape_estimation]
- input [default: /$(arg namespace)/lidar_detector/objects]
- output [default: /$(arg namespace)/$(arg packagename)/objects]
- launch/shape_estimation_fusion.launch
-
- namespace [default: detection]
- packagename [default: shape_estimation]
- input [default: /$(arg namespace)/fusion_tools/objects]
- output [default: /$(arg namespace)/$(arg packagename)/objects]
- launch/shape_estimation_tracking.launch
-
- namespace [default: detection]
- packagename [default: shape_estimation]
- input [default: /$(arg namespace)/lidar_tracker/objects]
- output [default: /$(arg namespace)/$(arg packagename)/objects]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged lidar_shape_estimation at Robotics Stack Exchange
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.