ZED Camera Support With OPT #123
Conversation
| add_executable(ground_based_people_detector_sr apps/ground_based_people_detector_node_sr.cpp) | ||
| SET_TARGET_PROPERTIES(ground_based_people_detector_sr PROPERTIES LINK_FLAGS -L${PCL_LIBRARY_DIRS}) | ||
| target_link_libraries(ground_based_people_detector_sr ${PROJECT_NAME} ${catkin_LIBRARIES} ${PCL_LIBRARIES} vtkHybrid vtkRendering) | ||
| #add_executable(ground_based_people_detector_sr apps/ground_based_people_detector_node_sr.cpp) |
There was a problem hiding this comment.
With this, the files for the SwissRanger are not built. I think we should maintain them.
| @@ -0,0 +1,4 @@ | |||
| 1.59075e-37 | |||
| @@ -370,24 +370,38 @@ open_ptrack::detection::GroundBasedPeopleDetectionApp<PointT>::preprocessCloud ( | |||
| PointCloudPtr cloud_filtered(new PointCloud); | |||
| pcl::VoxelGrid<PointT> voxel_grid_filter_object; | |||
| if (apply_denoising_) | |||
| { | |||
| //std::cout << "APPLY DENOISING" << std::endl; | |||
There was a problem hiding this comment.
All these debug lines should not go to the repo. If now you don't need them any more, can you remove them?
| std::vector<int> myvector; | ||
|
|
||
| int count = 0; | ||
| for(pcl::PointCloud<pcl::PointXYZRGB>::iterator it = no_ground_cloud_->begin(); it != no_ground_cloud_->end(); it++) |
There was a problem hiding this comment.
Did you try with the method built-in in PCL for removing NaNs?
There was a problem hiding this comment.
Yes I have tried doing this:
PointCloudPtr removedNaN_cloud(new PointCloud);
std::vector indices;
pcl::removeNaNFromPointCloud(*no_ground_cloud_, *removedNaN_cloud, indices);
no_ground_cloud_ = removedNaN_cloud;
However when i do that I get the error:
"Invalid (NaN, Inf) point coordinates given to radiusSearch!"
Which is why I ended up creating my own remove NaN
| @@ -0,0 +1,105 @@ | |||
| # zed-ros-wrapper | |||
There was a problem hiding this comment.
I think that the Zed wrapper should go in a separate repo, outside open_ptrack, as we did for the other sensors.
Please see README - ZED WITH OPT INSTALL ONLY FOLLOW THIS IF USING ZED.txt for installation and running instructions.