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s-duuu / pred_fusion

Object Trajectory Prediction using ROS, YOLOv5, PointPillars, CRAT-Pred
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camera and LiDAR synchronization #6

Open FYYLHH opened 1 year ago

FYYLHH commented 1 year ago

Hello, I would like to ask if there is camera and LiDAR synchronization in this project. If so, in which code segment is it reflected? If not, how can the final fusion be determined to be the same frame of data? thanks

s-duuu commented 1 year ago

Since this is the initial project operated in CarMaker simulator, where the Hz rate of each sensors can be modified, there's no synchronization code in this repository.

Instead of synchronization, I used IoU in sensor fusion in order to improve a little error of synchronization. Even though two detection boxes (PointPillars, YOLOv5) have a little bit of time interval, setting IoU threshold could resolve this kind of issues. Therefore, you can modify the IoU threshold in launch file to solve the lack of time synchronization code.

Thanks.