Object cluster & image color segment matching for object point cloud refinement#138

Open

pliam1105 wants to merge 30 commits intomainfrom pliam1105/refined_object_pclouds

+885-64

Commits on Oct 20, 2024

Mostly copy-paste basic setup stuff for the node that projects the detected point clouds from the image to the point cloud.
pliam1105
committed
Merge remote-tracking branch 'origin/pliam1105/improved_perception' into pliam1105/improved_perception
pliam1105
committed
Added some bbox specific stuff (still mostly setup, will now get to the actual logic)
pliam1105
committed

Commits on Oct 23, 2024

Commits on Oct 27, 2024

Merge remote-tracking branch 'origin/main' into pliam1105/improved_perception
pliam1105
committed

Commits on Nov 6, 2024

Commits on Nov 8, 2024

Commits on Nov 11, 2024

Commits on Nov 13, 2024

Not much, just added the command that finds the contours
pliam1105
committed

Commits on Nov 18, 2024

Setup the parameters for the cluster and contour matching and selection, need to find a euclidean clustering algorithm for n-dimensional data or with customizable distance function, or just one tha…
pliam1105
committed

Commits on Nov 22, 2024

Commits on Nov 25, 2024

Finished the code that selects the optimal cluster-contour pair, need to publish it now
pliam1105
committed

Commits on Nov 27, 2024

Code for publishing the results of the refined object clouds & visualizing them in RViz (not tested or built yet)
pliam1105
committed

Commits on Dec 2, 2024

Commits on Dec 4, 2024

Added visualizations, seems to mostly work, crashes at some points
pliam1105
committed

Commits on Dec 6, 2024

Debugging, fixed minor mistake, doesn't crash now, need to check the formulas for the choosing & matching metrics
pliam1105
committed

Commits on Dec 8, 2024

Debugging, having issues retrieving & converting colors from image (and those projected to cluster points)
pliam1105
committed

Commits on Dec 11, 2024

Commits on Dec 13, 2024

removing useless stuff
pliam1105
committed

Commits on Dec 15, 2024