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TreeScan3D-Multi-Threaded-Tree-Detection

TreeScan3D is an innovative project that leverages the power of 3D computer vision and multi-threaded processing for efficient tree detection. Leverages ROS, PCL and C++.

Depth Map

Depth Map

Point Cloud

Point Cloud

🏁 Dependencies

  1. ROS (Offical Guide)
  2. PCL (Offical Guide)

⚙️ To Use

  1. catkin build -DCMAKE_BUILD_TYPE=Release
  2. source workspace or .bashrc if already added
  3. rosrun detector detectorV2

🎋 3D Bounding Box with instance labelled Point Cloud

Instance Cloud

Instance Cloud

Bounding Box

3D Bounding Box

🖼️ Visualization

RVIZ can be used to visualize the Bounding Box and the computed instance cloud

RVIZ

RVIZ Window

Published Topics

  1. /tree_cloud (sensor_msgs/PointCloud2)
  2. /bounding_box (visualization_msgs/Marker)

⚠️ Note

This algorithm is still under development and has not been tested in real-time for its accuracy.