3D detection
Bounding box detection
For our current online detection algorithm, there are three ros_package needs to tweak:
data_project
In the
launch\process_data.launch, change this line of code to your point cloud topic:<arg name="points_src" default="/velodyne_points" />
multi_modalities_sensor_fusion
For point cloud segmentation
Output:
/detection/lidar_detector/points_cluster/detection/lidar_detector/objects/detection/lidar_detector/cloud_clusters/detection/lidar_detector/objects
In
src/cnn_segmentation.cpp, change line 319/320/328/329
detected_objects_visualizer
For bounding box visualization
Output:
/detection/lidar_detector/objectsIn
src/visualize_detected_objects.cpp, change line 63 box_color
Communication
Bounding box information pass through the network
/detector/objects_markers/boxes:
markers: - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 25 type: 1 action: 0 pose: position: x: 54.1324996948 y: 20.7215862274 z: -0.684168994427 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 4.39112472534 y: 1.08379745483 z: 1.36833798885 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 26 type: 1 action: 0 pose: position: x: 45.5233078003 y: 21.5355491638 z: -0.880384266376 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 6.07654953003 y: 2.60282325745 z: 1.14898312092 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 27 type: 1 action: 0 pose: position: x: 37.6964263916 y: 21.8732872009 z: -1.6256070137 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 4.89242935181 y: 3.12504005432 z: 2.23480796814 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 28 type: 1 action: 0 pose: position: x: 36.5938224792 y: 18.1119651794 z: -1.68516135216 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 3.81865692139 y: 1.67919921875 z: 1.4807972908 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 29 type: 1 action: 0 pose: position: x: 35.1111831665 y: 14.6735515594 z: -1.48217964172 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 4.0962562561 y: 1.85348033905 z: 1.63141429424 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 30 type: 1 action: 0 pose: position: x: 34.641456604 y: 12.0969409943 z: -1.56705546379 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 4.45224380493 y: 1.95781803131 z: 1.42734098434 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 31 type: 1 action: 0 pose: position: x: 25.7496261597 y: -8.24548912048 z: -1.17648363113 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 0.344306945801 y: 0.469246864319 z: 1.40606963634 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 32 type: 1 action: 0 pose: position: x: 23.0414009094 y: -15.5102300644 z: -1.05336725712 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 1.86930084229 y: 4.5089969635 z: 1.46107339859 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 33 type: 1 action: 0 pose: position: x: 12.3626337051 y: -6.47016048431 z: -0.933780193329 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 0.398544311523 y: 0.704765796661 z: 1.70431542397 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 34 type: 1 action: 0 pose: position: x: 6.28553295135 y: -2.80941772461 z: -1.10701775551 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 0.564098358154 y: 0.448395967484 z: 1.7282346487 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 35 type: 1 action: 0 pose: position: x: 5.74935626984 y: -1.57376194 z: -0.953803181648 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 0.503560066223 y: 0.59348154068 z: 1.49551320076 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 36 type: 1 action: 0 pose: position: x: 4.93692779541 y: 25.9034843445 z: -2.30843067169 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 1.1479344368 y: 1.74250602722 z: 0.46532034874 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 37 type: 1 action: 0 pose: position: x: 4.49059343338 y: 57.1800613403 z: -1.62411117554 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 1.17418456078 y: 3.63660430908 z: 1.27875328064 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 38 type: 1 action: 0 pose: position: x: 1.9210164547 y: 38.1488571167 z: -1.93313968182 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 1.68477857113 y: 3.42596817017 z: 1.25886797905 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 39 type: 1 action: 0 pose: position: x: 1.50040841103 y: 41.1704330444 z: -1.30602061749 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 1.42001366615 y: 1.61729049683 z: 1.64098858833 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 40 type: 1 action: 0 pose: position: x: 0.608725428581 y: 9.5458316803 z: -1.38351905346 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 2.73743057251 y: 1.59432315826 z: 1.07843017578 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 41 type: 1 action: 0 pose: position: x: -0.789220809937 y: 6.5422372818 z: -1.18327879906 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 4.40866136551 y: 1.9901599884 z: 1.29319739342 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 42 type: 1 action: 0 pose: position: x: 0.622518956661 y: 22.0123443604 z: -1.71185088158 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 0.96496117115 y: 0.548643112183 z: 1.3759598732 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 43 type: 1 action: 0 pose: position: x: -1.5811612606 y: 0.0257155299187 z: -0.617818832397 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 0.601974248886 y: 1.41466116905 z: 0.407502233982 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 44 type: 1 action: 0 pose: position: x: -6.63508605957 y: -4.63949537277 z: -0.87921923399 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 0.524078369141 y: 0.517085075378 z: 1.56771099567 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 45 type: 1 action: 0 pose: position: x: -19.3979263306 y: 0.556385397911 z: -0.889261245728 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 4.49234008789 y: 2.0848429203 z: 1.53549146652 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 46 type: 1 action: 0 pose: position: x: -24.2689418793 y: -2.8325548172 z: -0.998306274414 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 0.224266052246 y: 0.516348600388 z: 1.42536115646 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 47 type: 1 action: 0 pose: position: x: -34.618888855 y: 7.02315616608 z: -1.52775859833 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 3.7593421936 y: 1.76595926285 z: 1.40923118591 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False - header: seq: 17003 stamp: secs: 1667586988 nsecs: 302378000 frame_id: "lidar" ns: "/detection/lidar_detector/box_markers" id: 48 type: 1 action: 0 pose: position: x: -55.5026054382 y: 4.358045578 z: -1.46162521839 orientation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 scale: x: 3.46971893311 y: 1.84297323227 z: 1.62065958977 color: r: 0.20000000298 g: 0.501960813999 b: 0.800000011921 a: 0.800000011921 lifetime: secs: 0 nsecs: 0 frame_locked: False points: [] colors: [] text: '' mesh_resource: '' mesh_use_embedded_materials: False ---