DigiForest DRS

DRS tooling developed for the DigiForest project

Authors: Benoit Casseau, Matias Mattamala, Nived Chebrolu, Maurice Fallon

Package descriptions

• digiforest_analysis: Python modules to extract tree data
• digiforest_analysis_ros: ROS wrappers
• digiforest_slam_logger: Tool to export a state estimate solution in the SLAM format

Setup

Use a virtual environment (env in the example), isolated from the system dependencies:

python3 -m venv env
source env/bin/activate

Install the dependencies:

pip install -r requirements.txt

Install the automatic formatting pre-commit hooks (black and flake8), which will check the code before each commit:

pre-commit install

Install digiforest_analysis:

cd ~/git/digiforest_drs/digiforest_analysis
pip install -e .

Execution

To run the offline pipeline:

cd ~/git/digiforest_drs/digiforest_analysis
python scripts/offline_pipeline.py <input_pcd_file> --out <output_directory>

This will export a series of PCD files:

ground_cloud.pcd
forest_cloud.pcd
tree_<ID>.pcd
...