New features?

[ChernoA]

What new features are people interested in? e.g.

• Lidar rings
• Radar points
• Bounding boxes

Comment here with what features you want to see, and if there's enough interest then maybe we can add them.

Sorry for using this 'issues' board for discussion ;-)

[anshulpaigwar]

@ChernoA It would be great if bounding boxes can also be visualized/published as ROS markers.

[anshulpaigwar]

@ChernoA are you planning to work on converting bounding boxes annotation information into ROS bag format ??

[ChernoA]

@anshulpaigwar Yes I wrote some code for that. I can upload next week.

[ChernoA]

@anshulpaigwar @clynamen @yusanshi
I uploaded the code to publish the bounding boxes as both Rviz Marker and custom message type.
Choose the appropriate branch here:
https://github.com/ChernoA/nuscenes2bag

New ROS topics:
Topic: /boxes Type: nuscenes2bag/Boxes
Topic: /boxes_viz Type: visualization_msgs/MarkerArray

The lidar ring values was added previously, just enable line 188 here:
https://github.com/ChernoA/nuscenes2bag/blob/ubuntu_1604/src/SceneConverter.cpp#L188

Bounding boxes in Rviz:

[clynamen]

That's great @ChernoA I will merge your changes in the master branch and continue some work for cleaning up the code. Thanks for all your contributions! Since you know the project, feel free to tell me whatever you would like to change/improve.

[RRK13]

I tried to get the Box annotations, from the master branch but did not get the find the new rostopics. I also tried to get the https://github.com/ChernoA/nuscenes2bag, and catkin_make, but errors, as shown below. Please guide to correct the errors.

[ 97%] Building CXX object nuscenes2bag/CMakeFiles/nuscenes2bag.dir/src/main.cpp.o /home/..../nuscenes_chernoA_ws/src/nuscenes2bag/src/NuScenes2Bag.cpp: In member function ‘void nuscenes2bag::NuScenes2Bag::convertDirectory(const boost::filesystem::path&, const string&, const boost::filesystem::path&, int, int32_t)’: /home/..../nuscenes_chernoA_ws/src/nuscenes2bag/src/NuScenes2Bag.cpp:73:3: error: ‘ThreadPool’ was not declared in this scope ThreadPool<FIFO> pool(threadNumber); ^~~~~~~~~~ /home/...../nuscenes_chernoA_ws/src/nuscenes2bag/src/NuScenes2Bag.cpp:73:3: note: suggested alternative: ‘thread_local’ ThreadPool<FIFO> pool(threadNumber); ^~~~~~~~~~ thread_local /home/....../nuscenes_chernoA_ws/src/nuscenes2bag/src/NuScenes2Bag.cpp:73:14: error: ‘FIFO’ was not declared in this scope ThreadPool<FIFO> pool(threadNumber); ^~~~ /home/...../nuscenes_chernoA_ws/src/nuscenes2bag/src/NuScenes2Bag.cpp:73:14: note: suggested alternative: ‘FILE’ ThreadPool<FIFO> pool(threadNumber); ^~~~ FILE /home/.../nuscenes_chernoA_ws/src/nuscenes2bag/src/NuScenes2Bag.cpp:73:20: error: ‘pool’ was not declared in this scope ThreadPool<FIFO> pool(threadNumber); ^~~~ /home/...../nuscenes_chernoA_ws/src/nuscenes2bag/src/NuScenes2Bag.cpp:73:20: note: suggested alternative: ‘poll’ ThreadPool<FIFO> pool(threadNumber); ^~~~ poll nuscenes2bag/CMakeFiles/nuscenes2bag.dir/build.make:182: recipe for target 'nuscenes2bag/CMakeFiles/nuscenes2bag.dir/src/NuScenes2Bag.cpp.o' failed make[2]: *** [nuscenes2bag/CMakeFiles/nuscenes2bag.dir/src/NuScenes2Bag.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... CMakeFiles/Makefile2:580: recipe for target 'nuscenes2bag/CMakeFiles/nuscenes2bag.dir/all' failed make[1]: *** [nuscenes2bag/CMakeFiles/nuscenes2bag.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j8 -l8" failed

[tooyoungtoonavie]

Hi , How about add the sensor_intrinsics to bag file? I add some code on fucntion "convertEgoPoseInfos", but the printed instrinsics value is "0". Seems these parameter was not read from json file , right ? so, any advice about how can i get the instrinsics ? Thanks

[VanniZhou]

When will radar points support?@ChernoA

[dippatel1994]

@ChernoA If you can add radar pointcloud support it will be great. I can see you added .msg for radar and parsed in object in .cpp but its incomplete. It would be great if you can spare some time to finish it. This package is very helpful.