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View Code? Open in Web Editor NEWObject Orientation Corrected Bounding Box Fit for Point Cloud Clusters.
Object Orientation Corrected Bounding Box Fit for Point Cloud Clusters.
when I run the code with my rosbag, the orientation of bounding box is changing sometimes? Have you encountered a similar problem?
First thanks a lot for sharing your code.
I am testing your bounding box generator in autoware.ai:
I am using a lidar based clustering algorithm to generate point clusters, which I feed to your object builder. I then convert the output objects into a jsk_recognition_msgs::BoundingBox so I can visualize the result in Rviz.
I think I am using your library correctly as the 3d boxes look rather nice. However, I notice some boxes orientation is not always great. For example in the image above, you can see the few cars on the right side of the road are not properly oriented (boxes should be straight).
Do you know any way to mitigate this issue?
Thanks
I want to see the boundingbox in rviz, what kind of message shoube used to publish the boundingbox to rviz? Thank you!
Originally posted by @maxwellfrom in #2 (comment)
Hi, I am trying to build package as in read me file but when I do catkin_make I run into problems . Here is the error output;
In file included from /home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/object_builders_lib/include/object_builders/base_object_builder.hpp:4:0,
from /home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/kitti_ros/include/kitti_ros/perception/sensor_fusion.h:12,
from /home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/kitti_ros/include/kitti_ros/kitti_ros_node.h:2,
from /home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/kitti_ros/src/kitti_ros_node.cpp:1:
/home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/common_lib/include/common/types/type.h:11:30: error: template argument 1 is invalid
typedef pcl::PointCloud<Point> PointCloud;
/home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/common_lib/include/common/types/type.h:12:25: error: expected initializer before ‘PointCloudPtr’
typedef PointCloud::Ptr PointCloudPtr;
/home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/common_lib/include/common/types/type.h:13:30: error: expected initializer before ‘PointCloudConstPtr’
typedef PointCloud::ConstPtr PointCloudConstPtr;
In file included from /home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/object_builders_lib/include/object_builders/base_object_builder.hpp:5:0,
from /home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/kitti_ros/include/kitti_ros/perception/sensor_fusion.h:12,
from /home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/kitti_ros/include/kitti_ros/kitti_ros_node.h:2,
from /home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/kitti_ros/src/kitti_ros_node.cpp:1:
/home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/common_lib/include/common/types/object.hpp:240:31: error: template argument 1 is invalid
typedef std::shared_ptr<Object> ObjectPtr;
/home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/common_lib/include/common/types/object.hpp:241:31: error: ISO C++ forbids declaration of ‘type name’ with no type [-fpermissive]
typedef std::shared_ptr<const Object> ObjectConstPtr;
/home/atas/catkin_ws/src/ROS_Raw_Kitti_Player/common_lib/include/common/types/object.hpp:241:37: error: template argument 1 is invalid
typedef std::shared_ptr<const Object> ObjectConstPtr;
Could you please look into it , what could be thr cause ?
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