LCAS / iliad

L-CAS specific works on ILIAD project

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integrate 3D person tracker #32

Closed marc-hanheide closed 4 years ago

marc-hanheide commented 4 years ago

as the BOSCH 3D tracker is very resource-hungry, we shall try our own detector system as use at NCFM.

Tests:

[x] check if BOSCH tracker is indeed not working on the current hardware
[x] make an assessment of the false positive and false negative of our detector (qualitatively)

MFernandezCarmona commented 4 years ago

BOSH tracker: Disabling HAS_GPU option makes it work reasonably. However, it does not have Velodyne integrated. As a consequence, only 180 deg FOV.
UoL Tracker: checking

MFernandezCarmona commented 4 years ago

Both trackers are up and running. We will focus on UoL tracker as it has a wider FOV. However, if Timm gives us a working setup to integrate velodyne tracker in spencer pipeline, we can revisit this decission.

MFernandezCarmona commented 4 years ago

Change object3d_detector to lidar_object_detection_release. ROS package: lidar_object_detection

apt ros-kinetic-lidar-object-detection

WE WILL USE source at https://github.com/LCAS/lidar_object_detection_release because released is older.

MFernandezCarmona commented 4 years ago

Create a new map based on the laser map to define the only active area.

MFernandezCarmona commented 4 years ago

Ok. Now we can switch from object3d_detector to lidar_object_detection by setting a flag in people_3d.launch. By default is using lidar_object_detection but if you want to go back, just set use_new to false

MFernandezCarmona commented 4 years ago

Static map has been replaced by a new "active area map". We are ready to test again.