yanii / kitti-pcl Goto Github PK

Hi,

I try to build the source code and found the following error message. Do you have any ideal?

/home/hengfuil/code/kitti-pcl/src/kittitrackletextract.cpp: In function ‘int main(int, char*)’:
/home/hengfuil/code/kitti-pcl/src/kittitrackletextract.cpp:67:2: error: ‘sensor_msgs’ has not been declared
sensor_msgs::PointCloud2 blob;
^
/home/hengfuil/code/kitti-pcl/src/kittitrackletextract.cpp:67:27: error: expected ‘;’ before ‘blob’
sensor_msgs::PointCloud2 blob;
^
/home/hengfuil/code/kitti-pcl/src/kittitrackletextract.cpp:68:40: error: ‘blob’ was not declared in this scope
pcl::io::loadPCDFile (infile.c_str(), blob);
^
/home/hengfuil/code/kitti-pcl/src/kittitrackletextract.cpp:72:2: error: ‘fromROSMsg’ is not a member of ‘pcl’
pcl::fromROSMsg (blob, *cloud);
^
make[2]: ** [src/CMakeFiles/kittitrackletextract.dir/kittitrackletextract.cpp.o] Error 1
make[2]: Leaving directory /home/hengfuil/code/kitti-pcl' make[1]: *** [src/CMakeFiles/kittitrackletextract.dir/all] Error 2 make[1]: Leaving directory/home/hengfuil/code/kitti-pcl'
make: *** [all] Error 2

kitti2pcd.cpp, the line " input.read((char ) &point.x, 3sizeof(float));" is wrong ???

Dear Yanii:
The CMakeList.txt in src folder is :
x`ADD_EXECUTABLE(kitti2pcd kitti2pcd.cpp)
TARGET_LINK_LIBRARIES(kitti2pcd ${Boost_LIBRARIES} ${PCL_LIBRARIES})

ADD_EXECUTABLE(kittitrackletextract kittitrackletextract.cpp ${CMAKE_SOURCE_DIR}/include/tracklets.h)
TARGET_LINK_LIBRARIES(kittitrackletextract ${Boost_LIBRARIES} ${PCL_LIBRARIES})

INSTALL(TARGETS kitti2pcd kittitrackletextract
RUNTIME DESTINATION bin COMPONENT app
LIBRARY DESTINATION lib COMPONENT runtime
ARCHIVE DESTINATION lib COMPONENT runtime
PUBLIC_HEADER DESTINATION include COMPONENT dev
FRAMEWORK DESTINATION "/Library/Frameworks"
)
`
But in fact, the header file 'tracklets.h' is in 'include' folder, not 'src' folder, so I think the 4th line should be :ADD_EXECUTABLE(kittitrackletextract kittitrackletextract.cpp ${CMAKE_SOURCE_DIR}/../include/tracklets.h)

Hi,Thanks for your sharing!
I can convert the .bin files into .pcd files with your code(kitti2pcd) ,but i want to get the depth of kitti,
I use the createFromPointCloud of PCL when the input is .pcd ，then i meet the Segmentation fault (core dumped).Do you know why?
Thank you in advance!

In KITTI_README.TXT Coordinate Systems setion, the GPS/IMU coordinate systems are defined x: forwared, y: right, z: down. This is differ with the GPS/IMU coordinate in the KITTI website defined as: x: forward, y: left, z: up.