zhearing / apollo-seg

The lidar obstacle segmention part of Apollo perception module.

Hi there 👋

• Hello, I'm Zeyu 👋, currently working on Autonomous Driving.

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apollo-seg's Issues

How to train the network?

Hello, if I want to train the network myself, how can I make the data lable? I read the source code, but I don’t understand the specific meaning of the output of the network. Have you trained this network?

building with many undefined error

Do you got those error messages?

CMakeFiles/apollo_seg.dir/src/min_box.cc.o: In function `apollo::perception::MinBoxObjectBuilder::ComputePolygon2dxy(std::shared_ptr<apollo::perception::Object>)':
min_box.cc:(.text+0x373a): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setInputCloud(boost::shared_ptr<pcl::PointCloud<apollo::perception::pcl_util::PointXYZIH> const> const&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o: In function `apollo::perception::ConvexHull2DXY<apollo::perception::pcl_util::PointXYZIH>::Reconstruct2dxy(boost::shared_ptr<pcl::PointCloud<apollo::perception::pcl_util::PointXYZIH> >, std::vector<pcl::Vertices, std::allocator<pcl::Vertices> >*)':
min_box.cc:(.text._ZN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEE15Reconstruct2dxyEN5boost10shared_ptrIN3pcl10PointCloudIS3_EEEEPSt6vectorINS7_8VerticesESaISC_EE[_ZN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEE15Reconstruct2dxyEN5boost10shared_ptrIN3pcl10PointCloudIS3_EEEEPSt6vectorINS7_8VerticesESaISC_EE]+0x5b): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::initCompute()'
min_box.cc:(.text._ZN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEE15Reconstruct2dxyEN5boost10shared_ptrIN3pcl10PointCloudIS3_EEEEPSt6vectorINS7_8VerticesESaISC_EE[_ZN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEE15Reconstruct2dxyEN5boost10shared_ptrIN3pcl10PointCloudIS3_EEEEPSt6vectorINS7_8VerticesESaISC_EE]+0x15c): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::deinitCompute()'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o: In function `pcl::PCLSurfaceBase<apollo::perception::pcl_util::PointXYZIH>::PCLSurfaceBase()':
min_box.cc:(.text._ZN3pcl14PCLSurfaceBaseIN6apollo10perception8pcl_util10PointXYZIHEEC2Ev[_ZN3pcl14PCLSurfaceBaseIN6apollo10perception8pcl_util10PointXYZIHEEC5Ev]+0x14): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::PCLBase()'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE[_ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE]+0x20): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setInputCloud(boost::shared_ptr<pcl::PointCloud<apollo::perception::pcl_util::PointXYZIH> const> const&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE[_ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE]+0x28): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE[_ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE]+0x30): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE[_ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE]+0x38): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setIndices(boost::shared_ptr<pcl::PointIndices const> const&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE[_ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE]+0x40): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setIndices(unsigned long, unsigned long, unsigned long, unsigned long)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE[_ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE]+0x60): undefined reference to `pcl::ConvexHull<apollo::perception::pcl_util::PointXYZIH>::performReconstruction(pcl::PolygonMesh&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE[_ZTVN6apollo10perception14ConvexHull2DXYINS0_8pcl_util10PointXYZIHEEE]+0x68): undefined reference to `pcl::ConvexHull<apollo::perception::pcl_util::PointXYZIH>::performReconstruction(std::vector<pcl::Vertices, std::allocator<pcl::Vertices> >&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE[_ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE]+0x20): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setInputCloud(boost::shared_ptr<pcl::PointCloud<apollo::perception::pcl_util::PointXYZIH> const> const&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE[_ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE]+0x28): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE[_ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE]+0x30): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE[_ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE]+0x38): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setIndices(boost::shared_ptr<pcl::PointIndices const> const&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE[_ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE]+0x40): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setIndices(unsigned long, unsigned long, unsigned long, unsigned long)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE[_ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE]+0x60): undefined reference to `pcl::ConvexHull<apollo::perception::pcl_util::PointXYZIH>::performReconstruction(pcl::PolygonMesh&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE[_ZTVN3pcl10ConvexHullIN6apollo10perception8pcl_util10PointXYZIHEEE]+0x68): undefined reference to `pcl::ConvexHull<apollo::perception::pcl_util::PointXYZIH>::performReconstruction(std::vector<pcl::Vertices, std::allocator<pcl::Vertices> >&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN3pcl16MeshConstructionIN6apollo10perception8pcl_util10PointXYZIHEEE[_ZTVN3pcl16MeshConstructionIN6apollo10perception8pcl_util10PointXYZIHEEE]+0x20): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setInputCloud(boost::shared_ptr<pcl::PointCloud<apollo::perception::pcl_util::PointXYZIH> const> const&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN3pcl16MeshConstructionIN6apollo10perception8pcl_util10PointXYZIHEEE[_ZTVN3pcl16MeshConstructionIN6apollo10perception8pcl_util10PointXYZIHEEE]+0x28): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > > const&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN3pcl16MeshConstructionIN6apollo10perception8pcl_util10PointXYZIHEEE[_ZTVN3pcl16MeshConstructionIN6apollo10perception8pcl_util10PointXYZIHEEE]+0x30): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setIndices(boost::shared_ptr<std::vector<int, std::allocator<int> > const> const&)'
CMakeFiles/apollo_seg.dir/src/min_box.cc.o:(.data.rel.ro._ZTVN3pcl16MeshConstructionIN6apollo10perception8pcl_util10PointXYZIHEEE[_ZTVN3pcl16MeshConstructionIN6apollo10perception8pcl_util10PointXYZIHEEE]+0x38): undefined reference to `pcl::PCLBase<apollo::perception::pcl_util::PointXYZIH>::setIndices(boost::shared_ptr<pcl::PointIndices const> const&)'

strange result?

Hi, I'm using your code, the result look like below:

the box don't have rotation?
What's more, how you do you think the difference of category and confidence, when generating label, how can I generate the label for category.
Thank you very much.