Geometric Primitive Fitting (GPF)

This repository implements fitting of geometric primitives to a point cloud by the use of Point Cloud Library (PCL) modules. Planes, spheres and cylinders are currently supported.

Dependencies

• PCL

Building

First, clone this repository into your favourite workspace. Then build all packages with colcon.

mkdir -p <awesome_ws>/src && cd <awesome_ws>/src
git clone https://github.com/AndrejOrsula/gpf
cd ..
colcon build --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release"

Usage

First, source the ROS 2 global installation (if not done before).

source /opt/ros/eloquent/setup.bash

Then source the ROS 2 workspace overlay (if not done before).

source <awesome_ws>/install/local_setup.bash

Finally, you can try it out with the following script.

ros2 launch gpf gpf.launch.py

License

This project is licensed under BSD 3-Clause License.