SFITC

Algorithm

graph LR
    Odom --> Cumulator;
    VLP -- Point Cloud --> Cumulator;
    Cumulator -- Cumulated VLP --> SphericalFilter;
    SphericalFilter -- VLP on ZED FOV --> DepthConverter;
    DepthConverter -- Depth Image --> Cropper;
    ZED -- Depth Image --> Inpainter;
    Inpainter -- Inpainted ZED --> Cropper;
    Cropper -- Cropped VLP --> VarianceFilter;
    Cropper -- Cropped ZED --> VarianceFilter;
    Cropper -- Cropped ZED --> PG;
    VarianceFilter -- Filtered VLP --> PG;
    
    subgraph LidarUpsample 
        Cumulator
    end

Loading

Start ROS Core:

roscore

Play SensorSuiteV2:

rosbag play -l -u 10 ~/Development/DS/SensorSuiteV2/test4\(pg-ileri-geri-sol-sag\).bag 

rosbag play -l -s 40 -u 10 ~/Development/DS/SensorSuiteV2/2025-04-15-15-30-12.bag

rosbag play -l -s 40 -u 10 ~/Development/DS/SensorSuiteV2/test10.bag

Play CitrusFarm

Play VLP:

rosbag play -l -u 10 ~/Development/DS/Citrus-Farm-Dataset/01_13B_Jackal/base_2023-07-18-14-26-48_0.bag 

Play ZED:

rosbag play -l -u 10 ~/Development/DS/Citrus-Farm-Dataset/01_13B_Jackal/zed_2023-07-18-14-26-49_0.bag

Play odom:

rosbag play -l -u 10 ~/Development/DS/Citrus-Farm-Dataset/01_13B_Jackal/odom_2023-07-18-14-26-48.bag

Play together:

rosbag play -l -u 10 \
~/Development/DS/Citrus-Farm-Dataset/01_13B_Jackal/base_2023-07-18-14-26-48_0.bag \
~/Development/DS/Citrus-Farm-Dataset/01_13B_Jackal/zed_2023-07-18-14-26-49_0.bag \
~/Development/DS/Citrus-Farm-Dataset/01_13B_Jackal/odom_2023-07-18-14-26-48.bag

Start RViz:

rviz -d ~/Development/DS/Citrus-Farm-Dataset/01_13B_Jackal/rviz.rviz

Run code:

python3 main.py