lidar-perception
激光雷达感知 — 点云处理、地面分割、障碍物检测、聚类，支持速腾/禾赛/velodyne/Ouster 等常见激光雷达
DeepseekModel
Curated skill
Quality Good · 64
v1.0.0
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https://deepseekmodel.com/api/download.php?id=miuav-vibe-coding-ros2-agents-skills-perception-lidar-perception-skill-md&format=skill
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Standard format with system_prompt and model_config, ready for any agent framework
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name lidar-perception description 激光雷达感知 — 点云处理、地面分割、障碍物检测、聚类，支持速腾/禾赛/velodyne/Ouster 等常见激光雷达 argument-hint 激光雷达 OR lidar OR 点云 OR pointcloud OR PCL OR 障碍物检测 OR 地面分割 OR segmentation user-invocable true lidar-perception — 激光雷达感知 SKILL 引用技能 agents/skills/perception/sensor-fusion/ agents/skills/ros2-debug/ 点云处理流程 原始点云 (PointCloud2) │ ├── 降采样 (VoxelGrid) — 减少计算量 ├── 地面分割 (RANSAC/GND) — 分离地面和非地面 ├── 聚类 (Euclidean/DBSCAN) — 障碍物分组 └── 分类 (ML/规则) — 行人/车/障碍 ROS2 点云处理 // 订阅点云 auto sub = this -> create_subscription <sensor_msgs::msg::PointCloud2>( "/scan" , QoS ( 10 ). best_effort (), // sensor 数据用 BEST_EFFORT std:: bind (&LidarNode::callback, this , std::placeholders::_1)); // PCL 处理 pcl::VoxelGrid<pcl::PointXYZ> vg; vg. setInputCloud (pcl_cloud); vg. setLeafSize ( 0.1f , 0.1f , 0.1f ); vg. filter (*filtered_cloud); 地面分割 // RANSAC 地面检测 pcl::SACSegmentation<pcl::PointXYZ> seg; seg. setModelType (pcl::SACMODEL_PLANE); seg. setMethodType (pcl::SAC_RANSAC); seg. setDistanceThreshold ( 0.03 ); // 3cm seg. setInputCloud (cloud); seg. segment (inliers, coefficients); QoS 规则 激光雷达 必须用 BEST_EFFORT （高频数据，丢帧可接受）。 禁止 ❌ 点云用 RELIABLE（延迟累积，实时性差） ❌ 不做降采样直接处理（计算量爆炸） ❌ 不设置最大距离过滤（远处噪声影响大）
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The downloaded .skill package contains the following fields.
| Field | Description |
|---|---|
| format | Format tag (skill/v1) |
| skill_id | Unique skill ID |
| name | Skill name |
| version | Version |
| description | Description |
| category | Categories (array) |
| trigger_words | Trigger words |
| tags | Tags |
| source | Source |
| source_url | Source URL (this page) |
| exported_at | Exported at (set per download) |
| system_prompt | System prompt body |
| model_config | Model config: provider / model / temperature / max_tokens / top_p |
| examples | Examples |
| install_guide | Import guide for Coze / Dify / Claude / custom frameworks |
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