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praveen-palanisamy / multiple-object-tracking-lidar

C++ implementation to Detect, track and classify multiple objects using LIDAR scans or point cloud
MIT License
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obstacle detection problem #17

Closed Zhang-Qinghui closed 5 years ago

Zhang-Qinghui commented 5 years ago

hi,thanks for your work.Does the project only detect dynamic obstacles?

praveen-palanisamy commented 5 years ago

Hi @Zhang-Qinghui , thank you for your interest in this project. The code supports detection, classification and tracking of both dynamic and static obstacles.

Zhang-Qinghui commented 5 years ago

Thanks for your reply. I got it. If I fix the velodyne, How can I modify the code to only detect dynamic obstacles.

praveen-palanisamy commented 5 years ago

You can apply a filter over the detected objects to remove objects whose velocity is zero. In other words, if there is no change in the position of an objects in n consecutive frames, you can treat that to be stationary and filter it out.

Zhang-Qinghui commented 5 years ago

what you said is meaningful.Thank you.

Zhang-Qinghui commented 5 years ago

But I can not find the direction arrow as your picture shows when I see the reault through rviz. I can see cluster_0, cluster_1, …, cluster_5 topics and the markers on viz topic through rviz. How can I see the direction arrow as your picture shows? thank you in advance. 2019-11-14 15-53-04屏幕截图

praveen-palanisamy commented 5 years ago

The markers on the viz topic should look similar on RViz as shown in this project's repo README depending on your point cloud data.

Can you share a screenshot of your visualization to see what's missing in your RViz?

Zhang-Qinghui commented 5 years ago

Thanks for your reply.There is the screenshot of my visualization.In additon,only the Fixed Frame set as 'map' can I see the marker. 2019-11-17 09-50-36屏幕截图

praveen-palanisamy commented 5 years ago

I see. So, the objects from the point clouds are being detected, clustered and tracked. The missing piece is that the point clouds are not shown on RViz which is why you don't see the additional information. Please make sure that the point cloud data is published on to the filtered_cloud ROS topic and in RViz, choose that topic for "PointCloud2". You should then see all the information.

Yes. The map "Fixed Frame" sounds right.

Zhang-Qinghui commented 5 years ago

Maybe I do not say clear. I mean, I can't see the arrow as your picture shows, just as the picture shows below . 2019-11-17 10-29-01屏幕截图

praveen-palanisamy commented 5 years ago

The "arrow" like line segments are derived from the point clouds and will only show up when the point cloud data is streamed into RViz (using the steps in my previous comment).

Zhang-Qinghui commented 5 years ago

ok,thank you.