Boat Scanner

Scan single boat LiDAR point cloud, using 2D bounding box detection from YOLO.

0. How to Run

0.1. Filter Boat Point Cloud from Raw Rosbag

rosbag play {rosbag_with_cam_and_lidar.bag}

roslaunch vessel_pointcloud_scanner vessel_pointcloud_scanner.launch

0.2. Save Boat Point Cloud into Dataset Folder

Modify Line 113 before the run. Write class Index.

cd PillarReID/pillars_feature_extractor/scripts
python create_dataset.py