3D bounding boxes not displaying in Ubuntu 20.04 and ROS Noetic.

Alpaca-zip / ultralytics_ros

ROS/ROS 2 package for Ultralytics YOLOv8 real-time object detection and segmentation. https://github.com/ultralytics/ultralytics

GNU Affero General Public License v3.0

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3D bounding boxes not displaying in Ubuntu 20.04 and ROS Noetic. #76

Open zrxwz opened 3 weeks ago

zrxwz commented 3 weeks ago

Branch

noetic-devel

Question

After multiple attempts to modify yolov8n-seg.pt and voxel_leaf_size, the 3D bounding boxes still do not display. I am using kitti-track_with_cloud.launch, and both the images and point clouds display normally. The images have detection results, but the point clouds do not have any results.

Additional

No response

zrxwz commented 3 weeks ago

tracker_with_cloud_node: /opt/ros/noetic/include/image_geometry/pinhole_camera_model.h:304: std::string image_geometry::PinholeCameraModel::tfFrame() const: Assertion `initialized()' failed.

Tonny24Wang commented 4 days ago

This is a bug. You should modify the /home/mm/projects/ultralytics_ros/src/ultralytics_ros/src/tracker_with_cloud_node.cpp. move the line 'cammodel.fromCameraInfo(camera_info_msg); ' to some line before the following pcl::PointCloud::Ptr transformed_cloud; transformed_cloud = cloud2TransformedCloud(downsampled_cloud, cloud_msg->header.frame_id, cammodel.tfFrame(), cloud_msg->header.stamp); 'cammodel' should be set first.