✍️ Author: Chen Feng
The individual package of Skeleton-based Space Decomposition (SSD) is given for your purposeful usage, where some example scenes are provided in src/rosa/launch.
Run Rviz for SSD visualization and open another terminal for SSD execution:
sudo cpufreq-set -g performance
source devel/setup.zsh && roslaunch rosa rviz.launch
source devel/setup.zsh && roslaunch rosa ${SCENE}.launch (e.g., redbird.launch)Afterwards, you will see the SSD results of HKUST RedBird in your Rviz as follows:
As for your customerized scene, you can create the corresponding .launch file using the template in the given example scenes in src/rosa/launch. For your convenience, we offer the meaning of each hyperparameter for your adjustment.
rosa_main/estimation_num : [int] --> the number of points for skeleton extraction, using uniform downsampling.
rosa_main/pcd : [string] --> the path of input scene, using ".pcd" form.
rosa_main/estimation_number : [int] --> the neighboring number in normal estimation.
rosa_main/radius : [double] --> the radius of relative neighborhood for each point.
rosa_main/num_drosa : [int] --> the iteration number of calculating position and orientation of ROSA points.
rosa_main/num_dcrosa : [int] --> the iteration number of smoothening and shrinking ROSA points.
rosa_main/sample_r : [double] --> the sampling radius for pivotal ROSA points selection.
rosa_main/alpha : [double] --> the scale factor of Euclidean manner and projection manner in recentering.
rosa_main/upper_bound_angle_inner_decomp : [double] --> upper direction consistency of each branch.
rosa_main/upper_bound_length_inner_decomp : [double] --> upper length of each branch.
rosa_main/Prune : [bool] --> identifier for branch pruning.
rosa_main/lower_bound_length : [double] --> lower length of each branch.