autolidarperception / object_builders_lib

Object Orientation Corrected Bounding Box Fit for Point Cloud Clusters.

object_builders_lib

　Object Orientation Corrected Bounding Box Fit for Point Cloud Clusters.

TODO list

• Apollo's Min-box Object Builder
• TAS: An Orientation Corrected Bounding Box Fit Based on the Convex Hull under Real Time Constraints, similar to Apollo, IV 2018.
• M. Himmelsbach's Fit Oriented Box by a RANSAC algorithm to fit the dominant line in the xy-projection of the segment’s points; the other axis is then taken to be perpendicular to the dominant line, IV 2012.

  @inproceedings{himmelsbach2012tracking,
    title={Tracking and classification of arbitrary objects with bottom-up/top-down detection},
    author={Himmelsbach, Michael and Wuensche, H-J},
    booktitle={Intelligent Vehicles Symposium (IV), 2012 IEEE},
    pages={577--582},
    year={2012},
    organization={IEEE}
  }

How to use

1. git clone as a ROS package, with common_lib as dependency.
2. find_package for this object_builders_lib local package.

   find_package(catkin REQUIRED COMPONENTS
       # ROS core
       roscpp
       # ROS messages
       #std_msgs
       #sensor_msgs
       # ROS PCL
       #pcl_conversions
       #pcl_ros
       # 3rd modules for ROS, like Eigen
       cmake_modules
       # local packages
       common_lib
       object_builders_lib
   )

3. Use Point Cloud Clusters' Object Builder in your source code.

   // 1.include files
   #include "object_builders/base_object_builder.hpp"
   #include "object_builders/object_builder_manager.hpp"
   
   // 2.define object builder
   boost::shared_ptr<object_builder::BaseObjectBuilder> object_builder_;
   
   // 3.create object builder by manager
   object_builder_ = object_builder::createObjectBuilder();
   
   // 4.build 3D orientation bounding box for clustering point cloud
   std::vector<PointICloudPtr> cloud_clusters;
   std::vector<ObjectPtr> objects;
   object_builder_->build(cloud_clusters, &objects);

object_builders_lib's Issues

The bounding box is unstable

when I run the code with my rosbag, the orientation of bounding box is changing sometimes? Have you encountered a similar problem?

A bunch of compilation errors

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 ?

How to improve box orientation?

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.

The result looks like this:

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!

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)

开发者说丨Apollo感知解析之MinBox障碍物边框构建

https://mp.weixin.qq.com/s/fsZREKxrHFQlII0VF60DBQ