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AutoLidarPerception / object_builders_lib

Object Orientation Corrected Bounding Box Fit for Point Cloud Clusters.
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The bounding box is unstable #2

Open BigRayLee opened 5 years ago

BigRayLee commented 5 years ago

when I run the code with my rosbag, the orientation of bounding box is changing sometimes? Have you encountered a similar problem?

Durant35 commented 5 years ago

Is under static scenario? Similar problem, but I think the source is on segmentation.

BigRayLee commented 5 years ago

I think it is under static scenario, firstly I think the smallest area can represent the true orientation of the obstacle, but eventually I find that it may not be the same.

BigRayLee commented 5 years ago

I used the method proposed in paper（ An Orientation Corrected Bounding Box Fit Based on the Convex Hull under Real Time Constraints） can achieve the correction of the bounding box direction.

Durant35 commented 5 years ago

Just make some improvement upon this repo's implementation? Hope to learning from you, great!

BigRayLee commented 5 years ago

I used the method in the paper to get the direction of the bounding box and correct the direction of the minimum area bounding box, but now the algorithm is not fast enough.😂

Durant35 commented 5 years ago

Never mind, good job! You can optimize it.

BigRayLee commented 5 years ago

Thank you!

BigRayLee commented 5 years ago

I want to see the boundingbox in rviz, what kind of message shoube used to publish the boundingbox to rviz? Thank you!

I think you can use this one: jsk_recognition_msgs/BoundingBoxArray

BigRayLee commented 5 years ago

I have tried to use the message type you mentioned, but that message does not have the orientation information, I mean the boundingbox of that message is always parallel to the x y axis.

Oh, I know what you mean. We just create a message for visualize the orientation of bounding box. You can try this one: vision_msgs/BoundingBox3D,it includes the 3D position and orientation of the bounding box center.

juanmed commented 2 years ago

@BigRayLee Hi, it seems that you have compared both algorithms. I am also trying to do so, Can you share your implementation of " An Orientation Corrected Bounding Box Fit Based on the Convex Hull under Real Time Constraints" ? Thanks!