appinho / sarosperceptionkitti Goto Github PK
View Code? Open in Web Editor NEWROS package for the Perception (Sensor Processing, Detection, Tracking and Evaluation) of the KITTI Vision Benchmark Suite
License: MIT License
ROS package for the Perception (Sensor Processing, Detection, Tracking and Evaluation) of the KITTI Vision Benchmark Suite
License: MIT License
I downloaded another dataset with the help of following commands:
$ wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0002/2011_09_26_drive_0002_sync.zip
$ wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_calib.zip
$ unzip 2011_09_26_drive_0002_sync.zip
$ unzip 2011_09_26_calib.zip
$ kitti2bag -t 2011_09_26 -r 0002 raw_synced .
and this is the output of rosbag info
:
user@user:~/kitti_data/0002$ rosbag info synchronized_data.bag
path: synchronized_data.bag
version: 2.0
duration: 7.8s
start: Sep 26 2011 13:02:44.33 (1317029564.33)
end: Sep 26 2011 13:02:52.16 (1317029572.16)
size: 417.3 MB
messages: 1078
compression: none [308/308 chunks]
types: geometry_msgs/TwistStamped [98d34b0043a2093cf9d9345ab6eef12e]
sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/NavSatFix [2d3a8cd499b9b4a0249fb98fd05cfa48]
sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
topics: /kitti/camera_color_left/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_left/image_raw 77 msgs : sensor_msgs/Image
/kitti/camera_color_right/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_right/image_raw 77 msgs : sensor_msgs/Image
/kitti/camera_gray_left/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_left/image_raw 77 msgs : sensor_msgs/Image
/kitti/camera_gray_right/camera_info 77 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_right/image_raw 77 msgs : sensor_msgs/Image
/kitti/oxts/gps/fix 77 msgs : sensor_msgs/NavSatFix
/kitti/oxts/gps/vel 77 msgs : geometry_msgs/TwistStamped
/kitti/oxts/imu 77 msgs : sensor_msgs/Imu
/kitti/velo/pointcloud 77 msgs : sensor_msgs/PointCloud2
/tf 77 msgs : tf2_msgs/TFMessage
/tf_static 77 msgs : tf2_msgs/TFMessage
and when I ran this command at command prompt:
user@user:~/catkin_ws$ roslaunch sensor_processing sensor_processing.launch home_dir:=/home/user
I get this result in terminal and rviz
shows nothing!
user@user:~/catkin_ws$ roslaunch sensor_processing sensor_processing.launch home_dir:=/home/user
... logging to /home/user/.ros/log/42b8fb0c-864e-11ea-92dd-240a641f2dc5/roslaunch-user-8760.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://user:35757/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.5
* /sensor_setup_node/grid/cell/height: 0.15
* /sensor_setup_node/grid/cell/size: 0.25
* /sensor_setup_node/grid/range/max: 83.0
* /sensor_setup_node/grid/range/min: 3.0
* /sensor_setup_node/grid/segments: 240
* /sensor_setup_node/home_dir: /home/user
* /sensor_setup_node/lidar/height: -1.73
* /sensor_setup_node/lidar/z_min: -2.4
* /sensor_setup_node/ransac/iterations: 50
* /sensor_setup_node/ransac/tolerance: 0.2
* /sensor_setup_node/scenario: 2
* /sensor_setup_node/semantic/edge_detection/kernel: 3
* /sensor_setup_node/semantic/edge_detection/max: 120
* /sensor_setup_node/semantic/edge_detection/min: 5
* /sensor_setup_node/semantic/edge_detection/perform: False
NODES
/
my_rviz (rviz/rviz)
player (rosbag/play)
sensor_setup_node (sensor_processing/sensor_setup)
auto-starting new master
process[master]: started with pid [8771]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 42b8fb0c-864e-11ea-92dd-240a641f2dc5
process[rosout-1]: started with pid [8782]
started core service [/rosout]
process[player-2]: started with pid [8789]
process[sensor_setup_node-3]: started with pid [8790]
process[my_rviz-4]: started with pid [8796]
[ INFO] [1587748128.983994410]: scenario 0002
[ INFO] [1587748128.985153621]: lidar_height -1.73
[ INFO] [1587748128.985239620]: lidar_z_min -2.4
[ INFO] [1587748128.985358354]: grid_range_min 3
[ INFO] [1587748128.985464895]: grid_range_max 83
[ INFO] [1587748128.985544179]: grid_height 332
[ INFO] [1587748128.985638937]: grid_width 664
[ INFO] [1587748128.985742055]: grid_cell_size 0.25
[ INFO] [1587748128.985845873]: grid_cell_height 0.15
[ INFO] [1587748128.985886009]: grid_bins 470
[ INFO] [1587748128.985981191]: grid_segments 240
[ INFO] [1587748128.986083141]: ransac_tolerance 0.2
[ INFO] [1587748128.986153458]: ransac_iterations 50
[ INFO] [1587748128.986252019]: inv_angular_res 152.789
[ INFO] [1587748128.986307932]: inv_radial_res 4
[player-2] process has finished cleanly
log file: /home/user/.ros/log/42b8fb0c-864e-11ea-92dd-240a641f2dc5/player-2*.log
What steps I have made wrong?
Hi,
When i executed
roslaunch detection detection.launch home_dir:=/home/sana
roslaunch tracking tracking.launch home_dir:=/home/sana
i got the error below: Kindly help
[detection.launch] is neither a launch file in package [detection] nor is [detection] a launch file name
The traceback for the exception was written to the log file
[tracking.launch] is neither a launch file in package [tracking] nor is [tracking] a launch file name
The traceback for the exception was written to the log file
Where can I download the 0060.zip? I used 0006.zip but only see radar scans in Rviz without images.
The drive I provided from readme 0012 is downloaded from goose's address Zip, which only contains 0012 Bag file. After running roslaunch, the following results appear:
[ WARN] [1646748554.890493462]: Hardcode path in sensor_fusion.cpp processImage()!
[ WARN] [1646748554.894613255]: Empty semantic point cloud!
[ WARN] [1646748555.400600677]: Hardcode path in sensor_fusion.cpp processImage()!
[ WARN] [1646748555.404701194]: Empty semantic point cloud!
[ WARN] [1646748555.923053514]: Hardcode path in sensor_fusion.cpp processImage()!
[ WARN] [1646748555.927108425]: Empty semantic point cloud!
[ WARN] [1646748556.439107921]: Hardcode path in sensor_fusion.cpp processImage()!
[ WARN] [1646748556.443300419]: Empty semantic point cloud!
[ WARN] [1646748556.961663497]: Hardcode path in sensor_fusion.cpp processImage()!
[ WARN] [1646748556.965640884]: Empty semantic point cloud!
[ WARN] [1646748557.478409474]: Hardcode path in sensor_fusion.cpp processImage()!
[ WARN] [1646748557.482468366]: Empty semantic point cloud!
[ WARN] [1646748557.997741672]: Hardcode path in sensor_fusion.cpp processImage()!
[ WARN] [1646748558.001720665]: Empty semantic point cloud!
[ WARN] [1646748558.511803933]: Hardcode path in sensor_fusion.cpp processImage()!
[ WARN] [1646748558.515771263]: Empty semantic point cloud!
[ WARN] [1646748559.034038873]: Hardcode path in sensor_fusion.cpp processImage()!
[ WARN] [1646748559.038129333]: Empty semantic point cloud!
[ WARN] [1646748559.544194778]: Hardcode path in sensor_fusion.cpp processImage()!
[ WARN] [1646748559.548134172]: Empty semantic point cloud!
Do you have any other files to download, or do I need to do some other work? Please help me list a detailed reproduction process, the files I need to download and the work I need to complete. I'm just beginning to learn this field. Thank you very much for your help
How do I visualize the scenario as shown in
https://raw.githubusercontent.com/appinho/ROS_Perception_Package_Kitti_Dataset/master/videos/rviz.gif
That is, segmented images registered on the point cloud ?
downloaded the data and ran everything exactly the smae and I don't get objects.
I only get "Empty semantic point cloud!"
And I also noticed that the folder
"/kitti_data/0012/segmented_semantic_images/" is one of the folders that is needed.
DO I need to download and make the Kitti Data manually?
Hi, your project is very awesome, and I am very inspired by this project.
I found the processImage
function in sensor_processing package don't work well as show as below:
cv::Mat sem_edge_img, sem_dil_img, sem_output;
if(params_.sem_ed){
cv::Canny(sem_image_, sem_edge_img, params_.sem_ed_min,
params_.sem_ed_max, params_.sem_ed_kernel);
cv::dilate(sem_edge_img, sem_dil_img, cv::Mat(),
cv::Point(-1, -1), 1, 1, 1);
sem_image_.copyTo(sem_output, sem_dil_img);
}
// Publish
cv_bridge::CvImage cv_semantic_image;
cv_semantic_image.image = sem_output;
when the if(params_.sem_ed)
condition is not true, the sem_output is null image, I think your should add sem_output = sem_image_
above cv_bridge::CvImage cv_semantic_image;
.
Thanks!
In helper package, it looks like that there are some missing header files like #include "helper/Object.h" and namespace helper itself seem not to exist in the source code.
Hi @appinho , Thanks for your sharing this great work,
I have a image which contains trees, buildings and sky. How can i use your package to segment my image ?
For example, segment the trees, buildings and sky area
thanks a lot,
Best,
Welson
when I catkin_make the project, The problem about ros shows:
/usr/bin/ld: /lib/x86_64-linux-gnu/libicui18n.so.66: undefined reference to
log@GLIBC_2.29'
/usr/bin/ld: /lib/x86_64-linux-gnu/libicui18n.so.66: undefined reference to pow@GLIBC_2.29' collect2: error: ld returned 1 exit status make[2]: *** [SARosPerceptionKitti/evaluation/CMakeFiles/evaluation.dir/build.make:251:/home/seu/data_backup/new_disk/bbdata/catkin_ws/devel/lib/evaluation/evaluation] 错误 1 make[1]: *** [CMakeFiles/Makefile2:3444:SARosPerceptionKitti/evaluation/CMakeFiles/evaluation.dir/all] 错误 2
would you help me solve this problem?
I guess 'MODA' means 'multi-object detection accuracy' and 'MODP' means 'multi-object detection precision' ? What about the 'MOTAL'?
As title.
Thanks for the sharing the awesome work, I'd like to replicate this and maybe use this in conjunction with voxelnet. It'll be great if the current README could be updated so that I work with this.
Hello. I am new to this, and I have run all other .launch files given. I have seen the PointClouds successfully, but I cannot generate the bounding box shown in the Readme gif.
Is there any easy way to visualize the bounding box, or am I making a simple mistake? (I think may be it is related to the visualization module?)
Thanks!
I have run roslaunch evaluation evaluation.launch scenario:=0001 and I got a warning like this
[ INFO] [1553662220.801529193]: Read scenario : 0001
[ WARN] [1553662223.935368898]: Error opening file
[ INFO] [1553662223.935418984]: Publishing Evaluation [0]
[ WARN] [1553662224.441130598]: Error opening file
[ INFO] [1553662224.441191681]: Publishing Evaluation [1]
[ WARN] [1553662224.958780696]: Error opening file
Then, I check the evaluation.cpp, I found there is no kitti_results folder. Would you please upload it?
Thank you very much!
// Delete content in file if there is one
filename_ =
"~/kitti_results/"
+ scenario_name + ".txt";
tracking_results_.open(filename_.c_str(),
std::ofstream::out | std::ofstream::trunc);
Hi, I want to ask why tracks_[i].x(2) is less than 0 which should be the velocity.
Simon,
Where should I store the directory for dataset_60
result from your GDrive? I know it needs to be renamed as 0060
. Everytime I try to do launch, it always gives me error
roslaunch: error: The following input files do not exist: 0060
Hi
I followed the exact instructions for launching demo and downloaded 0012.zip
file and extracted it in ~/kitti_data/
as stated in step 3 demo instruction. when this
roslaunch sensor_processing sensor_processing.launch home_dir:=/home/user
command is entered I get this output:
I searched in previous issues and found out that step 3 is actually wrong and the folder structure of kitti_data/0012.bag
should be something like ~/kitti_data/0012/synchronized_data.bag
and also it should have supplementary folder for images which I don't know how should I grab it.
For each scenario we should have a folder named scenario number and inside it a synchronized_data.bag
file and a folder with images.
with above changes I could get the following output by entering first roslaunch sensor_processing sensor_processing.launch home_dir:=/home/user
command:
and this result for roslaunch tracking tracking.launch home_dir:=/home/user
:
Is this output correct?
I am wondering what should I do in order to get a better (in terms of visual) output? What am I doing wrong? I want to see a similar output that you have in README
file.
Unfortunately the google drive link only have files named 0000.bag
, 0001.bag
and ...
I want to add that I am pretty new to this stuff so I hope you don't mind my basic questions.
Regards
Hadi
Hello! I've tried to modify your code to suit my project —— tracking vehicles on highway.
It works but there are also some issues : I cannot get the conversion from vehicle coordinate system to world coordinate system so that I only run code on vehicle coordinate system, and the bounding box, the velocity and yaw of vehicle also seem strange.
Did you try running ukf without world coordinate?And any advise?
Thanks a lot!
I'm using the dataset 2011_09_26 (0001).
RViz opens but there is no output. Map and the 3 images come with the warnings-
No Map Received
No Map Received
What could be the reason?
Also, only the path and the filename had to be taken care of in the launch file right?
我想向您请教一些问题,如果您方便的话是否可以加以下联系方式。我的邮箱[email protected],很希望能收到您的回复。真心感谢。
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