First commit of the VoxelGridTracking approach
Added octomap generation from a point cloud
Starting the modification in order to transform the Cells into Voxels
Voxel class created. Some functions added to VoxelGridTracking class.
The code for publishing the voxel grid is done. Some synchronization problems detected.
Finished the implementation of getMeasurementModel and the visualization.
- NOTE: The arrows remain, but this is just because I haven't implemented the prediction method
Finished and tested the prediction stage, including the addition of a possible speed in the z direction, in case it is needed.
Finished the measurementBasedUpdate function.
Finished the segmentation step
Aggregation finished.
Speeds of each voxel are now obtained using a circular histogram.
Finished the extraction and visualization of the volume surrounding each detected object.
Added function joinCommonVolumes
- It joins several volumes sharing a common space into a single one.
The speed of each obstacle has been obtained and it is being shown.
TODO:
- Allow setting the obstacle's speed method by parameter
- Show the speed of each finally selected voxel
- Do tracking.
Solved a problem with the prediction function. Also the ego-motion has been included into the generation of the final speed of the obstacles.
Some minor changes were added
Solved minor problem in the calculation of the speed vectors.
Points are generated using ELAS. Ego-motion is obtained through libviso2
Solved problem when reading transformation.
Initializing the implementation of the publishROI method.