RosbagClassifier.m allows for classification of LiDAR data as gravel, chipseal, or grass using an RDF to examine arcs from seperate LiDAR channels. At the moment, 3 arcs from channels 2, 3, and 4 are used. Two reference points are used for extracting spacial features: Range from LiDAR PoI, and a RANSAC projected plane. Manually defined areas coresponding to the rosbag to be classified allow for determining the accuracy of the classification process. Accuracy results are plotted & saved to disk.
To run RosbagClassifier.m, the following is needed: Rosbag with LiDAR, GPS, and IMU data Manual Classification .mat file (see next section) RDFs specific to each channel (2, 3, & 5 are provided)
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Consecutive point cloud scans may be made using the lidar2Geo.m script found in the https://github.com/OUIDEAS/Cyberbag_LatLon_Plotter Repo.
This allows for creating of manually defined areas for use in scoring the classification results using the Manual_Classifier.m script.
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RDFs may be trained with scripts from the RDF_Creation_Scripts folder.