[feat] Optimize clustering

Tong Furequested to merge
feat/OptimizeClustering into master

Goal

The goal of this MR is to improve the clustering result, such as remove false positive (tree, leaves, wall et etc in the scene).

Change

  • Add function ExtractClustersWithRegionGrowing to grow region on a voxel grid map of motion points. A struct Voxel and a struct ClusteringGrid are added.

  • Add function InitClusteringGrid to initialize parameters of ClusteringGrid and create the BackgroundMap. A background voxel grid is created during the initialisation phase to check the validity of a cluster. If 50% of a cluster's voxel can be found in the BackgroundMap, this cluster should be considered as background not a moving object.

  • The output of clusters' information is now in the order of the clusterID.

Result

Demo

Here is a demo with a velodyne dataset

Motion_detector_mr

Improvement

Please see document here for the details.

Parameters

Parameters for hap dataset Screenshot_from_2024-09-05_12-54-45

Runtime

livox-hap average runtime
Motion estimation 38.9ms
Create background map 8.8ms
extract cluster with region growing 1.58ms

Future improvement

  • Separation of a big cluster which contains more than one object.
  • Fix axis-z for bounding box
Edited by Tong Fu

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