halostorm/pcat_open_source

PointCloud Annotation Tools, support to label object bound box, ground, lane and kerb

pcat_open_source's Issues

[rviz_cloud_annotation_node-2] process has died, 无法正常保存标注文件

[ INFO] [1586274937.294268862]: rviz_cloud_annotation: m_current_label 1
[ INFO] [1586274937.312954936]: rviz_cloud_annotation: ANNOTATION_TYPE 0
[ INFO] [1586274937.317525770]: rviz_cloud_annotation: shape[x1 -1.566000 x2 3.004000 y1 1.797000 y2 3.726000 z1 -1.467000 z3 -0.100000]
[ INFO] [1586274937.317583735]: BBOX[0]:0.000000 -1.566000 3.004000 0.000000 1.797000 3.726000 -1.467000 -0.100000 1.000000 -1.000000
180 Yaw 0[ INFO] [1586274937.317620274]: rviz_cloud_annotation: alpha is 0.254711
[ INFO] [1586274937.317693286]: rviz_cloud_annotation: selection set 8820 points.
[ INFO] [1586274941.427988303]: rviz_cloud_annotation: saving file: /home/dongzhou/lidar_annotation/_annotation/64line.ann
[ INFO] [1586274941.429595670]: rviz_cloud_annotation: done.
[ INFO] [1586274941.429847390]: rviz_cloud_annotation: saving cloud: /home/dongzhou/lidar_annotation/_pcd/64line.pcd
[ INFO] [1586274941.458699367]: rviz_cloud_annotation: done.
[rviz_cloud_annotation_node-2] process has died [pid 28851, exit code -11, cmd /home/dongzhou/PCAT_open_source/devel/lib/rviz_cloud_annotation/rviz_cloud_annotation_node __name:=rviz_cloud_annotation_node __log:=/home/dongzhou/.ros/log/270367da-78e8-11ea-bb0a-e82aea0b42da/rviz_cloud_annotation_node-2.log].
log file: /home/dongzhou/.ros/log/270367da-78e8-11ea-bb0a-e82aea0b42da/rviz_cloud_annotation_node-2*.log

librviz_cloud_annotation_com.so：对‘pcl::GlasbeyLUT::at(unsigned int)’未定义的引用

你好！我运行sh install.sh之后，得到了这个输出结果：
https://paste.ubuntu.com/p/VVMGjzBZsS/
好像是缺少src/rviz_cloud_annotation/lib/librviz_cloud_annotation_com.so和src/rviz_cloud_annotation/lib/librviz_cloud_annotation_plugin.so两个文件。能帮我看看怎么解决吗？

some confusions about Bbox label definition

According to the definition of bbox label u provided in 'image/s5.png', the object of interest can be described by its size (length, width, height), location (x_c, y_c, z_c), theta and alpha. However, I have three question about the definition of bbox label:

1. which object point does the location (x_c, y_c, z_c) represents? the center of target or just like KITTI dataset (the bottom center of target)? And is the location (x_c, y_c, z_c) the original of object coordinate system?

2. the 3D size of object includes length, width and height, Which axis of object coordinate system are they respectively aligned with? length-x, width-y, height-z?

3. how is the alpha defined? the angle between the x-axis of observer coordinates and the x-axis of object coordinates? which case is it defined as positive？and when is negative?

regards,
dong zhou

根据你们在 'image/s5.png' 所提供的bbox label定义来看，感兴趣目标能够由 size (length, width, height), location (x_c, y_c, z_c), theta and alpha 来描述。 但是我对bbox label定义有几个问题没有弄明白：

1. label中的the location (x_c, y_c, z_c) 对应目标的哪个点？目标中心或者像KITTI数据集那样，对应目标底面中心？还有the location (x_c, y_c, z_c) 应该就是目标坐标系的原点吧？

2. 目标三维尺寸包括长、宽、高，它们分别对应目标坐标系的哪个轴？长对应x轴，宽对应y轴，高对应z轴？

3. alpha角是如何定义的？它是观测坐标系x轴和目标坐标系x轴的夹角吗？这个alpha角什么时候为正，什么时候为负？

非常期待您的回答！
周栋

第二次运行run.sh会报错

运行一次之后lidar_annotation目录下会出现许多文件夹，但是再次运行run.sh的时候会报以下错误：
[ERROR] [1608186309.274574610]: Marker 'cloud/0': Points should not be empty for specified marker type.
删除lidar_annotation目录下的其他文件后再次运行可以恢复正常，但是标注的文件也一起被删了
Ubuntu18.04，测试时标注KITTI数据集的000000.pcd点云文件

No rule to make target '/usr/lib/x86_64-linux-gnu/libGL.so

[ 72%] Built target rviz_cloud_annotation_plugin_autogen
Scanning dependencies of target rviz_cloud_annotation_plugin
make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libGL.so', needed by '/home/hjimi/workspace/tools/PCAT_open_source-master/devel/lib/librviz_cloud_annotation_plugin.so'. Stop.
make[2]: *** Waiting for unfinished jobs....
[ 75%] Building CXX object rviz_cloud_annotation/CMakeFiles/rviz_cloud_annotation_plugin.dir/rviz_cloud_annotation_plugin_autogen/mocs_compilation.cpp.o
[ 78%] Building CXX object rviz_cloud_annotation/CMakeFiles/rviz_cloud_annotation_plugin.dir/src/rviz_cloud_annotation_plugin.cpp.o
[ 81%] Building CXX object rviz_cloud_annotation/CMakeFiles/rviz_cloud_annotation_plugin.dir/src/rviz_select_tool.cpp.o
CMakeFiles/Makefile2:704: recipe for target 'rviz_cloud_annotation/CMakeFiles/rviz_cloud_annotation_plugin.dir/all' failed
make[1]: *** [rviz_cloud_annotation/CMakeFiles/rviz_cloud_annotation_plugin.dir/all] Error 2
如何解决啊

不能运行

CMake Error at CMakeLists.txt:1:
Parse error. Expected a command name, got unquoted argument with text
"/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake".
-- Configuring incomplete, errors occurred!
Invoking "cmake" failed
执行sh install.sh的时候出现上面的错误，这是为啥？

Some fixing in noetic

error: ‘setw’ is not a member of ‘std’; did you mean ‘set’?
in src/rviz_cloud_annotation/src/rviz_cloud_annotation_points.h add
#include

error: ‘CV_LOAD_IMAGE_COLOR’ was not declared in this scope
in src/rviz_cloud_annotation/src/rviz_cloud_annotation_plugin.h add
#include "opencv2/imgcodecs/legacy/constants_c.h"

when I click the Kerb, it's died

when I select the Kerb， the software don't respond anything，and after that, it seems running on something so that I couldn't even zoom the annotation page. Is anyone meeting this? I'm really looking forward to help~

为什么只能打开给的示例PCD，自己的PCD文件格式打不开，急求告知！！谢谢

Why can I only open the sample PCD given, but my PCD file format cannot be opened, please let me know! ! Thank you

rviz_cloud_annotation: invalid action 0 for selection.

你好，我出现了一个bug，不知道大家有没有出现，当我标注完一帧之后切换到下一帧之后，选框后并没有出现框框，提示如下：

求解！！

能否将标注结果读取到rviz中？

当标注完成后，能否将标注结果读取到rviz中进行显示，以及微调后重新保存

为什么不支持Python3？

Python2.7都要停用了。

标注的标签

你好，想问下，标注的点云中心点坐标结果是在相机的坐标系内吗？还是lidar的坐标系的值？

sh run.sh报错，求指教

环境都配置好了，install.sh也成功了，但是运行run.sh时报错，报错如下：

liufan@liufan-Latitude-5401:~/lf/PCAT_open_source$ sh run.sh
... logging to /home/liufan/.ros/log/3daba2a2-cd81-11ea-aab5-d81265607069/roslaunch-liufan-Latitude-5401-2505.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://liufan-Latitude-5401:33429/

SUMMARY

PARAMETERS

• /rosdistro: kinetic
• /rosversion: 1.12.14
• /rviz_cloud_annotation_node/LogFile: /home/liufan/lida...
• /rviz_cloud_annotation_node/annotation_cloud_folder: /home/liufan/lida...
• /rviz_cloud_annotation_node/annotation_file_folder: /home/liufan/lida...
• /rviz_cloud_annotation_node/bbox_names_file_folder: /home/liufan/lida...
• /rviz_cloud_annotation_node/cloud_file_folder: /home/liufan/lida...
• /rviz_cloud_annotation_node/color_importance: 0.0
• /rviz_cloud_annotation_node/image_file_folder: /home/liufan/lida...
• /rviz_cloud_annotation_node/label_names_file_folder: /home/liufan/lida...
• /rviz_cloud_annotation_node/label_size: 0.2
• /rviz_cloud_annotation_node/line_names_file_folder: /home/liufan/lida...
• /rviz_cloud_annotation_node/neigh_search_params: 10
• /rviz_cloud_annotation_node/neigh_search_type: 2
• /rviz_cloud_annotation_node/normal_importance: 0.0
• /rviz_cloud_annotation_node/pcd_type: XYZI
• /rviz_cloud_annotation_node/position_importance: 1.0
• /rviz_cloud_annotation_node/show_zero_weight_control_points: False
• /rviz_cloud_annotation_node/update_topic: /point_cloud

NODES
/
annotation_rviz (rviz/rviz)
rviz_cloud_annotation_node (rviz_cloud_annotation/rviz_cloud_annotation_node)

auto-starting new master
process[master]: started with pid [2516]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3daba2a2-cd81-11ea-aab5-d81265607069
process[rosout-1]: started with pid [2537]
started core service [/rosout]
process[rviz_cloud_annotation_node-2]: started with pid [2551]
process[annotation_rviz-3]: started with pid [2555]
[ INFO] [1595576556.328958035]: rviz_cloud_annotation: log file: /home/liufan/lidar_annotation/annotation.log
[ INFO] [1595576556.332331921]: rviz_cloud_annotation: files exist:
[ INFO] [1595576556.332349826]: rviz_cloud_annotation: file_now: /home/liufan/lidar_annotation/pcd/64line.pcd
[ INFO] [1595576556.332984021]: rviz_cloud_annotation: expected pcd format: XYZI
[ INFO] [1595576556.372402471]: rviz version 1.12.17
[ INFO] [1595576556.372458049]: compiled against Qt version 5.5.1
[ INFO] [1595576556.372476580]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1595576556.381090521]: rviz_cloud_annotation: cloud size: 110090
[ INFO] [1595576556.452981129]: Stereo is NOT SUPPORTED
[ INFO] [1595576556.453053413]: OpenGl version: 3 (GLSL 1.3).
[ INFO] [1595576556.467749982]: rviz_cloud_annotation: building point neighborhood...
================================================================================REQUIRED process [annotation_rviz-3] has died!
process has died [pid 2555, exit code -11, cmd /opt/ros/kinetic/lib/rviz/rviz -d /home/liufan/lf/PCAT_open_source/src/rviz_cloud_annotation/rviz/annotation.rviz __name:=annotation_rviz __log:=/home/liufan/.ros/log/3daba2a2-cd81-11ea-aab5-d81265607069/annotation_rviz-3.log].
log file: /home/liufan/.ros/log/3daba2a2-cd81-11ea-aab5-d81265607069/annotation_rviz-3*.log
Initiating shutdown!

[annotation_rviz-3] killing on exit
[rviz_cloud_annotation_node-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

中文乱码

请问中文乱码怎么办？

Invoking "make -j6 -l6" failed

当我运行sh install.sh时，它出现了Invoking "make -j6 -l6" @failed这个错误，我不知道为什么。你能帮我解答一下吗？

Does ubuntu18.04 work?

请问怎样加快pcd文件读取速度？

我的pcd文件是读取雷达数据然后转成的，每一帧点的数量是24000，每次启动时加载pcd文件比较慢，标注完一帧数据后，切换到下一帧，耗时也比较多，不知道这是正常的情况吗？

为什么我选择多边形选择无法自动生成bbox？

在进行点云标注的过程中，我如果选择多边形标注点云，它无法像视频操作中的那样自动就生成bbox？

No image

博主你好，我现在在使用最新版本的点云标注工具，我将点云对应的图像文件添加到～/lidar_annotation/image文件夹下，点云文件和对应的图片文件名称相同，但是在运行标注工具的时候图像显示框依旧是No image，想问一下有什么比较好的解决方法

我也遇到这个问题ubuntu18.04 ROS-Kinect to ROS-Melodic PClpcl-pcl-1.9.0

请问这个现在有解决方案了吗

The plugin for class 'rviz_cloud_annotation/Annotation Tool' failed to load. Error: Failed to load library

[ERROR] [1589107141.546822435]: PluginlibFactory: The plugin for class 'rviz_cloud_annotation/Annotation Tool' failed to load. Error: Failed to load library /share_zyx/PCAT_open_source/devel/lib//librviz_cloud_annotation_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /usr/lib/x86_64-linux-gnu/libQt5Gui.so.5: version Qt_5' not found (required by /share_zyx/PCAT_open_source/devel/lib//librviz_cloud_annotation_plugin.so)) [ERROR] [1589107141.556759737]: PluginlibFactory: The plugin for class 'rviz_cloud_annotation/Annotation' failed to load. Error: Failed to load library /share_zyx/PCAT_open_source/devel/lib//librviz_cloud_annotation_plugin.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /usr/lib/x86_64-linux-gnu/libQt5Gui.so.5: version Qt_5' not found (required by /share_zyx/PCAT_open_source/devel/lib//librviz_cloud_annotation_plugin.so))
================================================================================REQUIRED process [annotation_rviz-2] has died!
process has finished cleanly
log file: /root/.ros/log/7c1fa32e-92a5-11ea-9bf1-e0d55ef88a30/annotation_rviz-2*.log
Initiating shutdown!

可以支持las的文件格式吗

您好！我想请教下怎么把pcd 对应的图片显示出来呢？我把图片放到image 文件夹里，但是在标注的时候还是无法同步显示出来

请问标注时能否保留上一帧的标注结果?

这样标注下一帧时只需要微调box的位置即可，可以极大提高标注效率

我也遇到这个问题ubuntu18.04 ROS-Kinect to ROS-Melodic PCl

请问这个有解决方案了吗

启动问题

使用示例pcd文件，运行没有点云显示，错误日志：
cd/64line.pcd
[ INFO] [1597400440.474601640]: rviz_cloud_annotation: expected pcd format: XYZI
[ INFO] [1597400440.546957026]: rviz_cloud_annotation: cloud size: 110090
[rviz_cloud_annotation_node-2] process has died [pid 10012, exit code -11, cmd /media/fy/Disk/code/opensource/PCAT_open_source/devel/lib/rviz_cloud_annotation/rviz_cloud_annotation_node __name:=rviz_cloud_annotation_node __log:=/home/fy/.ros/log/ccc08858-de17-11ea-a5d3-00e18c8bd904/rviz_cloud_annotation_node-2.log].
log file: /home/fy/.ros/log/ccc08858-de17-11ea-a5d3-00e18c8bd904/rviz_cloud_annotation_node-2*.log
[ INFO] [1597400440.807173683]: Stereo is NOT SUPPORTED
[ INFO] [1597400440.807288917]: OpenGl version: 3 (GLSL 1.3).