detect range change

test_project/linefit_ground_segmentation_local_gpu_test/src/ground_segmentation_node_mult_test.cc

@@ -270,9 +270,9 @@ public:
 
     for(int i = 0; i < objects->points.size(); i++)
     {
-      if (objects->points[i].x < 1000)
+      if (objects->points[i].x < 50 && objects->points[i].y > -15 && objects->points[i].y < 15 ) //前向50m内 左右15m
       {
-        if (objects->points[i].z > -1.3) //-1.5m以上的点做聚类处理
+        if (objects->points[i].z > -1.3 && objects->points[i].z < 3.5 ) //-1.3m-3.5m的点做聚类处理
           close->points.push_back(objects->points[i]);
       }
       else
@@ -325,7 +325,7 @@ public:
     printf("=>close_objects_filtered voxel(dbscan before) after points  size : %d  \n", numPoints);
    
     PointType* points = close_objects_filtered->points.data();
-    DBSCAN::Param param{.pointDimension = 3, .eps = 0.3, .minPoints = 20};
+    DBSCAN::Param param{.pointDimension = 3, .eps = 0.5, .minPoints = 20};//0.2  30 没box算是个临界点
     DBSCAN dbscanHandler(param);
     std::vector<std::vector<int>> clusterIndices;
 
@@ -404,7 +404,7 @@ public:
         tmp.x = it->x;
         tmp.y = it->y;
         tmp.z = it->z;
-        if (tmp.z < -1.3 || tmp.z > 1.2) //确定bbox内点云的范围
+        if (tmp.z < -1.3 || tmp.z > 3) //确定bbox内点云的范围 
                   continue;
         cloud_clustered->points.push_back(tmp);
         tmp_filter_z->points.push_back(tmp); 

test_project/livox_free_space/src/FreeSpace.cpp

@@ -404,7 +404,7 @@ int LivoxFreeSpace::GroundSegment(int* pLabel,float *fPoints,int pointNum,float
 
 	pcl::computeMeanAndCovarianceMatrix(*cloud, cov, pc_mean);
 	Eigen::JacobiSVD<Eigen::MatrixXf> svd(cov,Eigen::DecompositionOptions::ComputeFullU);
-	normal_ = (svd.matrixU().col(2)); //第三个奇异向量（即法向量）作为normal_
+	normal_ = (svd.matrixU().col(2)); //第三个奇异向量（更换坐标系的z轴即xy平面的法向量）作为normal_
 	Eigen::Vector3f seeds_mean = pc_mean.head<3>();
 	//  normal.T * [x,y,z] = -d 
     //(0,0) 是 Eigen 矩阵表达式的索引，表示取其第 0 行第 0 列上的元素

test_project/livox_free_space/src/FreeSpace_node.cpp

-
-// #include "sensor_msgs/PointCloud2.h"
-// #include "geometry_msgs/Point.h"
-// #include "geometry_msgs/Point32.h"
-// #include "geometry_msgs/Polygon.h"
-// #include "geometry_msgs/PolygonStamped.h"
-// #include "nav_msgs/GridCells.h"
 #include "pcl/conversions.h"
-//#include "pcl_conversions/pcl_conversions.h"
 #include "pcl/point_cloud.h"
 #include "pcl/point_types.h"
 #include <pcl/filters/voxel_grid.h>