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HoEmpire / pedestrian_tracking_and_localizaiton

A package for pedestrian detection, tracking, and re-identification.
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Some problems #2

Closed akamob closed 1 month ago

akamob commented 2 years ago

Hi, Thank you for the great work.

I use a Velodyne VLP-16 lidar and I convert these point clouds into depth images. Could you give me some suggestions to modify your code so that I can use VLP-16's point cloud as lidar_topic and use depth images as camera_topic.

Any help is much appreciated. Thank you!

HoEmpire commented 2 years ago

Hi, This project basically processes the 3d point cloud and 2d image separately and associates them later on. If you can process the VLP-16 lidar as a point cloud, there are several steps you need to check to make things work:

  1. Change lidar_topic and camer_topic
  2. Make sure you publish the tf of map_frame, lidar_frame, and camera_frame, and also change those frame names in the config file.
  3. Other parameters tuning (check comments in Usage 2. Config for more details)
akamob commented 2 years ago

Hi, thank you for your reply:)

I will try to test. But firstly I needed to build your project successfully, because my environment is Ubuntu 20.04. Although I can install prerequisites in README.md, it gives many errors when I run catkin_make.

If I have some new problems then I would contact you again. Thank you!

akamob commented 2 years ago

Hi, @HoEmpire, after running catkin_make on jetson nano, I got this error:

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
Faiss_LIBS
    linked by target "ptl_reid_cpp" in directory /home/dodo/pedestrian_tracking_and_localizaiton/src/ptl_reid_cpp

-- Generating done
CMake Generate step failed.  Build files cannot be regenerated correctly.
Makefile:1738: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

Could you give me some suggestions to fix my problems? Besides, due to the limited computation power, I hope I can build your project on my computer (Ubuntu 20.04). I think it should work by modifying CMakeLists.txt file, but I am not sure how to do it.

May I have your suggestions? Any help is much appreciated:)

HoEmpire commented 2 years ago

Have you installed the faiss? Faiss_LIBS seems not to be found correctly.

akamob commented 2 years ago

Hi, @HoEmpire, thank you for your reply:)

After several tries, I think faiss install successfully: faiss

But I can't build your project on Ubuntu 20.04, I try to modify /opt/ros/melodic/share/catkin/cmake/toplevel.cmake to /opt/ros/**noetic**/share/catkin/cmake/toplevel.cmake and I got this error after catkin_make:

Base path: /home/lk3696/pedestrian_tracking_and_localizaiton
Source space: /home/lk3696/pedestrian_tracking_and_localizaiton/src
Build space: /home/lk3696/pedestrian_tracking_and_localizaiton/build
Devel space: /home/lk3696/pedestrian_tracking_and_localizaiton/devel
Install space: /home/lk3696/pedestrian_tracking_and_localizaiton/install
####
#### Running command: "cmake /home/lk3696/pedestrian_tracking_and_localizaiton/src -DCATKIN_DEVEL_PREFIX=/home/lk3696/pedestrian_tracking_and_localizaiton/devel -DCMAKE_INSTALL_PREFIX=/home/lk3696/pedestrian_tracking_and_localizaiton/install -G Unix Makefiles" in "/home/lk3696/pedestrian_tracking_and_localizaiton/build"
####
CMake Error at CMakeLists.txt:1:
  Parse error.  Expected a command name, got unquoted argument with text
  "/opt/ros/noetic/share/catkin/cmake/toplevel.cmake".

-- Configuring incomplete, errors occurred!
Invoking "cmake" failed

Screenshot from 2022-04-28 18-51-55

What even worse, I found all CMakeLists.txt in other ros projects also changed to /opt/ros/noetic/share/catkin/cmake/toplevel.cmake.

May I have your suggestions to fix this problem? Any help is much appreciated!

HoEmpire commented 2 years ago

Could you share your error before modifying /opt/ros/melodic/share/catkin/cmake/toplevel.cmake? And also what's the version of ROS in your system?

akamob commented 2 years ago

Hi, thank you for your reply:)

Before modifying, I met this error:

CMake Error at CMakeLists.txt:1:
  Parse error.  Expected a command name, got unquoted argument with text
  "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake".

And my Ubuntu is 20.04, so I installed ROS Noetic. This is why I change /opt/ros/melodic/share/catkin/cmake/toplevel.cmake in your CMakeLists.txt to /opt/ros/noetic/share/catkin/cmake/toplevel.cmake. But after modifying, I still met the above error.

HoEmpire commented 2 years ago

Sorry for the late reply. Is it working now? If not, could you try removing src/CMakeLists.txt?

HoEmpire commented 1 month ago

Closed due to no activity.