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davutcanakbas / dynamic_object_removal

A ROS-based solution to clear point cloud data by removing dynamic objects for mapping.
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Working Pipeline #1

Closed StepTurtle closed 10 months ago

StepTurtle commented 10 months ago

Hey, Thanks for work. I have some questions?

When I run lidar_centerpoint, it needs a map frame. So, I publish the map transformation somehow. Is it the same for you, or am I doing something wrong?

Additionally, if we plan to use this package only on the mapping side, I think it would be better to come up with a solution rather than compiling the entire Autoware. Do you have any plans to add just the lidar_centerpoint or any 3D object detection algorithm to the package? Combining a solution that takes only point cloud as an input, detects and removes objects in a single package would be more convenient. Additionally, it wouldn't require additional transformations on the Autoware side (map frame).

davutcanakbas commented 10 months ago

Hi, thank you for your cooperation.

You can adjust this line with your sensor frame, but it's important to note that this change is primarily needed when you're performing mapping tasks. ( autoware.universe/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml )

<param name="densification_world_frame_id" value="Sensor_Frame_x"/>

I brought this up during the meeting, and the consensus was to keep it as is, with separate repositories and usage structured in this manner.

StepTurtle commented 10 months ago

Thanks for your answer.

You can adjust this line with your sensor frame, but it's important to note that this change is primarily needed when you're performing mapping tasks. ( autoware.universe/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml )

problem solved after doing this. Also adding this info to README will be useful for users.

I brought this up during the meeting, and the consensus was to keep it as is, with separate repositories and usage structured in this manner.

I remember that it was decided in the meeting to create a separate repository for the package anddo not add it to autoware.universe. Additionally, it is find more convenient to include lidar_centerpoint and its dependencies in this repository and use them.

davutcanakbas commented 10 months ago

I agree with this let's talk about it in the meeting. We can close the issue if everything is okay.

Additionally, it is find more convenient to include lidar_centerpoint and its dependencies in this repository and use them.

StepTurtle commented 10 months ago

I updated the document as requested at the meeting. If there is nothing else left, we can close this issue. Doc. link: https://gist.github.com/StepTurtle/4e74492489073c053883888be57bb1e4