koide3/hdl_people_tracking

Real-time people tracking using a 3D LIDAR

hdl_people_tracking

hdl_people_tracking is a ROS package for real-time people tracking using a 3D LIDAR. It first performs Haselich's clustering technique to detect human candidate clusters, and then applies Kidono's person classifier to eliminate false detections. The detected clusters are tracked by using Kalman filter with a contant velocity model.

Video:

Requirements

hdl_people_tracking requires the following libraries:

• OpenMP
• PCL 1.7

The following ros packages are required:

• pcl_ros
• ndt_omp
• hdl_localization

Example

Bag file (recorded in an outdoor environment):

• hdl_400.bag.tar.gz (933MB)

rosparam set use_sim_time true
roslaunch hdl_people_tracking hdl_people_tracking.launch

roscd hdl_localization/rviz
rviz -d hdl_localization.rviz

rosbag play --clock hdl_400.bag

---

[NOTE]:

If it doesn't work well, change ndt_neighbor_search_method in hdl_localization.launch to "DIRECT1". It makes the scan matching significantly fast, but a little bit unstable.

If your bagfile is static (velodyne device is fixed) try with the following launch file without any localization needs:

rosparam set use_sim_time true
roslaunch hdl_people_tracking hdl_people_tracking_static.launch

Related packages

• interactive_slam
• hdl_graph_slam
• hdl_localization
• hdl_people_tracking

Papers

Kenji Koide, Jun Miura, and Emanuele Menegatti, A Portable 3D LIDAR-based System for Long-term and Wide-area People Behavior Measurement, Advanced Robotic Systems, 2019 [link].

Contact

Kenji Koide, [email protected]

Active Intelligent Systems Laboratory, Toyohashi University of Technology, Japan [URL]
Robot Innovation Research Center, National Institute of Advanced Industrial Science and Technology, Japan [URL]

hdl_people_tracking's Issues

bag file filtered data (NaN?)

Hey,

interesting work, but tell me did you have filtered the bag files to apply the detection or not? If yes how did you filter the data before recording or afterwards?

Greetings Petros

Failed to find package hdl_localization

Hi,@koide3,

When I run " roslaunch hdl_people_tracking hdl_people_tracking.launch ",the following error occurs.

... logging to /home/jintaiyu/.ros/log/9cdcaf3c-f88f-11e8-b306-000ec6a10ce2/roslaunch-jintaiyu-MIIX-510-12ISK-7362.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.

Traceback (most recent call last):
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/init.py", line 307, in main
p.start()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start
self._start_infrastructure()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure
self._load_config()
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config
roslaunch_strs=self.roslaunch_strs, verbose=self.verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default
loader.load(f, config, verbose=verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 746, in load
self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 718, in _load_launch
self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 682, in _recurse_load
val = self._include_tag(tag, context, ros_config, default_machine, is_core, verbose)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call
return f(*args, **kwds)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 587, in _include_tag
inc_filename = self.resolve_args(tag.attributes['file'].value, context)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args
return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 316, in resolve_args
resolved = _resolve_args(resolved, context, resolve_anon, commands)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 329, in _resolve_args
resolved = commands[command](resolved, a, args, context)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 142, in _find
source_path_to_packages=source_path_to_packages)
File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 188, in _find_executable
full_path = _get_executable_path(rp.get_path(args[0]), path)
File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 203, in get_path
raise ResourceNotFound(name, ros_paths=self._ros_paths)
ResourceNotFound: hdl_localization
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/jintaiyu/catkin_ws6/src
ROS path [2]=/opt/ros/indigo/share
ROS path [3]=/opt/ros/indigo/stacks

But I have added the package path of hdl_localization(/home/jintaiyu/catkin_ws5/src) to ROS_PACKAGE_PATH and also added hdl_localization_DIR to Cmakelists.txt,the error still exists.
Can you give me some directions about this problem?

Sincerely
ikunjin

work flow question.

Is flow works of this package (hdl_people_tracking) dependent to the hdl_localization?
In other words, can hdl_people_tracking run without depending on hdl_localization and detect pedestrians?

Where is SVM classifier clue on this package?

According to your published paper, the selected classifier is SVM and AdaBoost ([43] Kidono reference), but I cannot find SVM clue on your package.

I found the only AdaBoost model and its code (people_detector.cpp).

“kkl::math::gaussianProbMul”: Unmatched overloaded function found

1>D:\Project\Kinect\HumanDtTr\src\PointcloudBuilder\Tracking\hdl_people_tracking/people_tracker.hpp(33,22): error C2672: “kkl::math::gaussianProbMul”: Unmatched overloaded function found

1>D:\Project\Kinect\HumanDtTr\src\PointcloudBuilder\Tracking\hdl_people_tracking/people_tracker.hpp(33,1):
error C2784: “T kkl::math::gaussianProbMul(const Eigen::Matrix<T,p,1,0|_Rows==1&&false?Eigen::RowMajor:true&&_Rows!=1?Eigen::ColMajor:Eigen::ColMajor,_Rows,1> &,const Eigen::Matrix<Scalar,Dim,Dim,0|_Rows==1&&_Cols!=1?Eigen::RowMajor:_Cols==1&&_Rows!=1?Eigen::ColMajor:Eigen::ColMajor,_Rows,_Cols> &,const Eigen::Matrix<T,p,1,0|_Rows==1&&false?Eigen::RowMajor:true&&_Rows!=1?Eigen::ColMajor:Eigen::ColMajor,_Rows,1> &)”:
未能从“Eigen::Matrix3d”为“const Eigen::Matrix<Scalar,Dim,Dim,0|_Rows==1&&_Cols!=1?Eigen::RowMajor:_Cols==1&&_Rows!=1?Eigen::ColMajor:Eigen::ColMajor,_Rows,_Cols> &”推导 模板 参数

Detection evaluation question

Hi @koide3

How could I evaluate this procedure by HDL_500.bag and compute the ROC curve?

I computed the TP, TN, FP, FN, Recall, Precision, FPR, and TPR with counting the all of that sequenced data (rosbag) per each frame (summation of each TP, FP, ... per frame).

So in the end, I have an FPR and TPR, thus I cannot plot a ROC curve, because it is only a point!

What's your idea to detection evaluation (no tracking)?

can I have a look at your paper?

Hi, really thanks to your great work, and I reaaly want to read your paper for further study, is that ok?

Classification on Ouster

Hello,
I'd like to point that your work is amazing. I ran it on a vlp 32 and the output was beyond expectation. Can you please provide steps to train the classifier for ouster 32 sensor as the classifier failed with ouster?

Thanks,

Applicable equipment

Hi,

I am interesting about your study，and can you tell me what kind of equipment suit it？
can Velodyne HDL-64E device perform well?

thanks.

Detection range

Hi:
How to set the detection range of this package? When I use a 64-line Lidar and it can only detect the human in 3 meters.
Which parameters can be adjusted to achieve better results? e.g., I want the detect the person in range 15 meters.
Thank you and looking forward to you reply.

how to visualize with rviz?

When I try to run

"roscd hdl_localizatrion/rviz"
"rviz -d hdl_localizatrion.rviz"

I get: "roscd: No such package/stack 'hdl_localizatrion/rviz'"

nodelet issue

Hi @koide3

Today when I ran the bagfile and ran the hdl_people lauch file, I was dealing with this error:

[ INFO] [1563533791.312999571, 1521699323.586027466]: background subtractor constructed
[ INFO] [1563533791.331089009, 1521699323.596427322]: done
[velodyne_nodelet_manager-1] process has died [pid 28844, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=velodyne_nodelet_manager __log:=/home/agn/.ros/log/fb6ba99a-aa00-11e9-b73f-dc5360059dc1/velodyne_nodelet_manager-1.log].
log file: /home/agn/.ros/log/fb6ba99a-aa00-11e9-b73f-dc5360059dc1/velodyne_nodelet_manager-1*.log

What's wrong?

Also, I remove build and devel folder then did catkin_make again but the problem is remaining.

multiple errors catkin build on kinetic

Hello,

I'm trying to build your code with catkin build but i do get:

Starting >>> hdl_people_tracking

---

Errors << hdl_people_tracking:make /home/czermak/argo/logs/hdl_people_tracking/build.make.002.log
In file included from /home/czermak/argo/src/hdl_people_tracking/apps/hdl_people_tracking_nodelet.cpp:23:0:
/home/czermak/argo/src/hdl_people_tracking/include/hdl_people_tracking/people_tracker.hpp:9:34: fatal error: grace_msgs/Detection.h: No such file or directory
compilation terminated.
make[2]: *** [CMakeFiles/hdl_people_tracking_nodelet.dir/apps/hdl_people_tracking_nodelet.cpp.o] Error 1
make[1]: *** [CMakeFiles/hdl_people_tracking_nodelet.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /home/czermak/argo/src/hdl_people_tracking/apps/hdl_people_detection_nodelet.cpp:27:0:
/home/czermak/argo/src/hdl_people_tracking/include/hdl_people_detection/background_subtractor.hpp: In member function ‘visualization_msgs::MarkerConstPtr hdl_people_detection::BackgroundSubtractor::create_voxel_marker() const’:
/home/czermak/argo/src/hdl_people_tracking/include/hdl_people_detection/background_subtractor.hpp:157:68: error: no matching function for call to ‘Eigen::SparseCompressedBase<Eigen::SparseVector >::InnerIterator::InnerIterator(const Eigen::SparseVector&)’
for (Eigen::SparseVector::InnerIterator itr(occupancy_map); itr; ++itr) {
^
In file included from /usr/include/eigen3/Eigen/SparseCore:41:0,
from /usr/include/eigen3/Eigen/Sparse:26,
from /home/czermak/argo/src/hdl_people_tracking/include/hdl_people_detection/background_subtractor.hpp:5,
from /home/czermak/argo/src/hdl_people_tracking/apps/hdl_people_detection_nodelet.cpp:27:
/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h:162:26: note: candidate: template Eigen::SparseCompressedBase::InnerIterator::InnerIterator(const Eigen::SparseMatrixBase&, Eigen::Index)
template InnerIterator(const SparseMatrixBase&, Index outer);
^
/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h:162:26: note: template argument deduction/substitution failed:
In file included from /home/czermak/argo/src/hdl_people_tracking/apps/hdl_people_detection_nodelet.cpp:27:0:
/home/czermak/argo/src/hdl_people_tracking/include/hdl_people_detection/background_subtractor.hpp:157:68: note: candidate expects 2 arguments, 1 provided
for (Eigen::SparseVector::InnerIterator itr(occupancy_map); itr; ++itr) {
^
In file included from /usr/include/eigen3/Eigen/SparseCore:41:0,
from /usr/include/eigen3/Eigen/Sparse:26,
from /home/czermak/argo/src/hdl_people_tracking/include/hdl_people_detection/background_subtractor.hpp:5,
from /home/czermak/argo/src/hdl_people_tracking/apps/hdl_people_detection_nodelet.cpp:27:
/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h:134:14: note: candidate: Eigen::SparseCompressedBase::InnerIterator::InnerIterator(const Eigen::internal::CompressedStorage<typename Eigen::internal::traits<Eigen::SparseCompressedBase >::Scalar, typename Eigen::internal::traits<Eigen::SparseCompressedBase >::StorageIndex>&) [with Derived = Eigen::SparseVector; typename Eigen::internal::traits<Eigen::SparseCompressedBase >::StorageIndex = int; typename Eigen::internal::traits<Eigen::SparseCompressedBase >::Scalar = bool]
explicit InnerIterator(const internal::CompressedStorage<Scalar,StorageIndex>& data)
^
/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h:134:14: note: no known conversion for argument 1 from ‘const Eigen::SparseVector’ to ‘const Eigen::internal::CompressedStorage<bool, int>&’
/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h:128:14: note: candidate: Eigen::SparseCompressedBase::InnerIterator::InnerIterator(const Eigen::SparseCompressedBase&) [with Derived = Eigen::SparseVector]
explicit InnerIterator(const SparseCompressedBase& mat)
^
/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h:128:14: note: no known conversion for argument 1 from ‘const Eigen::SparseVector’ to ‘const Eigen::SparseCompressedBase<Eigen::SparseVector >&’
/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h:110:5: note: candidate: Eigen::SparseCompressedBase::InnerIterator::InnerIterator(const Eigen::SparseCompressedBase&, Eigen::Index) [with Derived = Eigen::SparseVector; Eigen::Index = long int]
InnerIterator(const SparseCompressedBase& mat, Index outer)
^
/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h:110:5: note: candidate expects 2 arguments, 1 provided
/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h:107:38: note: candidate: Eigen::SparseCompressedBase<Eigen::SparseVector >::InnerIterator::InnerIterator(const Eigen::SparseCompressedBase<Eigen::SparseVector >::InnerIterator&)
class SparseCompressedBase::InnerIterator
^
/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h:107:38: note: no known conversion for argument 1 from ‘const Eigen::SparseVector’ to ‘const Eigen::SparseCompressedBase<Eigen::SparseVector >::InnerIterator&’
/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h:107:38: note: candidate: Eigen::SparseCompressedBase<Eigen::SparseVector >::InnerIterator::InnerIterator(Eigen::SparseCompressedBase<Eigen::SparseVector >::InnerIterator&&)
/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h:107:38: note: no known conversion for argument 1 from ‘const Eigen::SparseVector’ to ‘Eigen::SparseCompressedBase<Eigen::SparseVector >::InnerIterator&&’
make[2]: *** [CMakeFiles/hdl_people_detection_nodelet.dir/apps/hdl_people_detection_nodelet.cpp.o] Error 1
make[1]: *** [CMakeFiles/hdl_people_detection_nodelet.dir/all] Error 2
make: *** [all] Error 2
cd /home/czermak/argo/build/hdl_people_tracking; catkin build --get-env hdl_people_tracking | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed << hdl_people_tracking:make [ Exited with code 2 ]
Failed <<< hdl_people_tracking [ 9.2 seconds ]

Help would be appreciated.
Thank you in advance!

error on catkin build on hdl_people tracking package

It's showing an error like:
"/hdl_people_tracking/src/kidono_human_classifier.cpp:21:46: error: expected primary-expression before ‘>’ token" on line in kidono_human_classifier.cpp:
boost = cv::ml::Boost::loadcv::ml::Boost(modelfile,scalefile);
^

Hi,what‘s the number of the the lidar lines you are using? VLP64?

How to enable static person detection?

I did an experimental person detection on a simulator which its persons are stand/fixed, so I realized that this repo does not find the fixed person and when I move persons it detected them.

Is there any parameter to detect stood persons or if not, can I change a section of code to detect them?

Plot precision-recall curve and F1-score

Hi, @koide3, Thank you for the great work.

I'm wondering if it is possible that you could provide the precision-recall curve and F1-score of human detection?
I want to quantify the performance.

Thank you!

Why detect people in the cloud named "filtered"?

Hi, @koide3
In apps/hdl_people_detection_nodelet.cpp, there are codes as:

    auto filtered = backsub->filter(cloud);
    auto clusters = detector->detect(filtered);

And it seems to detect people in the filtered cloud that only contains voxels with less than "occupy_thresh "(default value is 2).
May I ask what assumptions they are based on？

build error

Hi
When I build the project in ros kinetic,It will show:

catkin_ws/src/hdl_people_tracking/src/kidono_human_classifier.cpp:21:46: error: expected primary-expression before ‘>’ token
boost = cv::ml::Boost::loadcv::ml::Boost(modelfile);

How to run the project

Hi, My name is Welly. Currently I want to implement your code on my system with Velodyne Lidar VLP-16. Would you like to help me to set up the environment on Linux? I have installed and download the requirements on your project, but I can't run it. I attach the screenshot bellow.

I used CLion and Ubuntu 18.04 to run your code.

How to realize pedestrians detection？

Hello! I used rosbag and bag_to_pcd to creat my own map.pcd, then I input the command with rosparam set use_sim_time true, roslaunch hdl_people_tracking hdl_people_tracking.launch, roscd hdl_localization/rviz, rviz -d hdl_localization.rviz，it just showed a static pointcloud and could not realize pedestrians detection, could you help me? thanks in advance.

catkin_mae error

test@test:~/catkin_ws$ catkin_make
Base path: /home/test/catkin_ws
Source space: /home/test/catkin_ws/src
Build space: /home/test/catkin_ws/build
Devel space: /home/test/catkin_ws/devel
Install space: /home/test/catkin_ws/install
Creating symlink "/home/test/catkin_ws/src/CMakeLists.txt" pointing to "/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake"

Running command: "cmake /home/test/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/test/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/test/catkin_ws/install -G Unix Makefiles" in "/home/test/catkin_ws/build"

-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/test/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/test/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/test/catkin_ws/devel;/opt/ros/kinetic
-- Found PythonInterp: /usr/bin/python (found version "2.7.12")
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/test/catkin_ws/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.14
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 4 packages in topological order:
-- ~~ - hdl_people_tracking
-- ~~ - ndt_omp
-- ~~ - hdl_localization
-- ~~ - hdl_graph_slam
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'hdl_people_tracking'
-- ==> add_subdirectory(hdl_people_tracking)
-- Found OpenCV: /opt/ros/kinetic (found version "3.2.0")
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- hdl_people_tracking: 4 messages, 0 services
-- +++ processing catkin package: 'ndt_omp'
-- ==> add_subdirectory(ndt_omp)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Checking for module 'eigen3'
-- Found eigen3, version 3.2.92
-- Found eigen: /usr/include/eigen3
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- filesystem
-- thread
-- date_time
-- iostreams
-- serialization
-- chrono
-- atomic
-- regex
-- Checking for module 'flann'
-- Found flann, version 1.8.4
-- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
-- Checking for module 'libopenni'
-- Found libopenni, version 1.5.4.0
-- Found openni: /usr/lib/libOpenNI.so
-- Checking for module 'libopenni2'
-- Found libopenni2, version 2.2.0.3
-- Found OpenNI2: /usr/lib/libOpenNI2.so
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist. Possible reasons include:

• The file was deleted, renamed, or moved to another location.
• An install or uninstall procedure did not complete successfully.
• The installation package was faulty and contained
  "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
  but not all the files it references.

-- The imported target "vtk" references the file
"/usr/bin/vtk"
but this file does not exist. Possible reasons include:

• The file was deleted, renamed, or moved to another location.
• An install or uninstall procedure did not complete successfully.
• The installation package was faulty and contained
  "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
  but not all the files it references.

-- Found libusb-1.0: /usr/include
-- Found qhull: /usr/lib/x86_64-linux-gnu/libqhull.so
-- looking for PCL_COMMON
-- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so
-- looking for PCL_KDTREE
-- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so
-- looking for PCL_OCTREE
-- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so
-- looking for PCL_SEARCH
-- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so
-- looking for PCL_IO
-- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so
-- looking for PCL_SAMPLE_CONSENSUS
-- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so
-- looking for PCL_FILTERS
-- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so
-- looking for PCL_GEOMETRY
-- Found PCL_GEOMETRY: /usr/include/pcl-1.7
-- looking for PCL_FEATURES
-- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so
-- looking for PCL_SEGMENTATION
-- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so
-- looking for PCL_SURFACE
-- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so
-- looking for PCL_REGISTRATION
-- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so
-- looking for PCL_RECOGNITION
-- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so
-- looking for PCL_KEYPOINTS
-- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so
-- looking for PCL_VISUALIZATION
-- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so
-- looking for PCL_PEOPLE
-- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so
-- looking for PCL_OUTOFCORE
-- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so
-- looking for PCL_TRACKING
-- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so
-- looking for PCL_APPS
-- Could NOT find PCL_APPS (missing: PCL_APPS_LIBRARY)
-- looking for PCL_MODELER
-- Found PCL_MODELER: /usr/include/pcl-1.7
-- looking for PCL_IN_HAND_SCANNER
-- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.7
-- looking for PCL_POINT_CLOUD_EDITOR
-- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.7
-- Found PCL: /usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_common.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_common.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;optimized;/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_octree.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_octree.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_search.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_search.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkImagingStencil;vtkCommonComputationalGeometry;vtkCommonDataModel;vtkCommonMath;vtkCommonCore;vtksys;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkImagingCore;vtkCommonExecutionModel;vtkFiltersAMR;vtkFiltersGeneral;vtkFiltersCore;vtkParallelCore;vtkIOLegacy;vtkIOCore;/usr/lib/x86_64-linux-gnu/libz.so;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingSources;vtkRenderingCore;vtkCommonColor;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkalglib;vtkFiltersGeometry;vtkFiltersSources;vtkFiltersModeling;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkInteractionStyle;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;vtkftgl;vtkRenderingVolume;vtkIOParallelNetCDF;vtkParallelMPI;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;/usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5.so;/usr/lib/x86_64-linux-gnu/libpthread.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5_hl.so;vtkRenderingOpenGL;vtkIOLSDyna;vtkIOXML;vtkIOGeometry;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkLocalExample;vtkInfovisCore;vtkGeovisCore;vtkInfovisLayout;vtkViewsCore;vtkproj4;/usr/lib/x86_64-linux-gnu/libpython2.7.so;vtkTestingGenericBridge;/usr/lib/libgl2ps.so;verdict;vtkIOMovie;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkFiltersImaging;vtkIOMINC;vtkRenderingLOD;vtkViewsQt;vtkGUISupportQt;vtkViewsInfovis;vtkChartsCore;vtkRenderingContext2D;vtkRenderingLabel;vtkRenderingImage;vtkFiltersFlowPaths;vtkxdmf2;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkFiltersReebGraph;vtkViewsContext2D;vtkIOXdmf2;vtkIOAMR;vtkRenderingContextOpenGL;vtkImagingStatistics;vtkIOParallel;vtkFiltersParallel;vtkIONetCDF;vtkexoIIc;vtkGUISupportQtOpenGL;vtkIOParallelLSDyna;vtkFiltersParallelGeometry;vtkGUISupportQtWebkit;vtkIOPLY;vtkWrappingTools;vtkFiltersHyperTree;vtkRenderingVolumeOpenGL;vtkIOExodus;vtkIOPostgreSQL;vtkIOSQL;sqlite3;vtkWrappingJava;vtkFiltersParallelFlowPaths;vtkFiltersParallelStatistics;vtkFiltersProgrammable;vtkFiltersParallelImaging;vtkRenderingParallelLIC;vtkRenderingLIC;vtkInteractionImage;vtkFiltersPython;vtkWrappingPythonCore;vtkIOParallelExodus;vtkFiltersGeneric;vtkIOVideo;vtkRenderingQt;vtkFiltersTexture;vtkIOInfovis;vtkGUISupportQtSQL;vtkRenderingFreeTypeOpenGL;vtkInfovisBoostGraphAlgorithms;vtkRenderingGL2PS;vtkIOGeoJSON;vtkFiltersVerdict;vtkViewsGeovis;vtkIOImport;vtkTestingIOSQL;vtkPythonInterpreter;vtkIOODBC;vtkIOEnSight;vtkIOMySQL;vtkRenderingMatplotlib;vtkDomainsChemistry;vtkIOExport;vtkFiltersParallelMPI;vtkIOParallelXML;vtkTestingRendering;vtkIOMPIParallel;vtkParallelMPI4Py;vtkFiltersSMP;vtkFiltersSelection;vtkIOVPIC;VPIC;vtkImagingMath;vtkImagingMorphological;vtkRenderingParallel;vtkRenderingFreeTypeFontConfig;vtkIOFFMPEG;vtkIOMPIImage;vtkIOGDAL;optimized;/usr/lib/x86_64-linux-gnu/libpcl_io.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_io.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_filters.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_filters.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_features.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_features.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_surface.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_surface.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_registration.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_registration.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_recognition.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_recognition.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_visualization.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_visualization.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_people.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_people.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_tracking.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_tracking.so;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;vtkImagingStencil;vtkCommonComputationalGeometry;vtkCommonDataModel;vtkCommonMath;vtkCommonCore;vtksys;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkImagingCore;vtkCommonExecutionModel;vtkFiltersAMR;vtkFiltersGeneral;vtkFiltersCore;vtkParallelCore;vtkIOLegacy;vtkIOCore;/usr/lib/x86_64-linux-gnu/libz.so;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingSources;vtkRenderingCore;vtkCommonColor;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkalglib;vtkFiltersGeometry;vtkFiltersSources;vtkFiltersModeling;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkInteractionStyle;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;vtkftgl;vtkRenderingVolume;vtkIOParallelNetCDF;vtkParallelMPI;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;/usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5.so;/usr/lib/x86_64-linux-gnu/libpthread.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5_hl.so;vtkRenderingOpenGL;vtkIOLSDyna;vtkIOXML;vtkIOGeometry;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkLocalExample;vtkInfovisCore;vtkGeovisCore;vtkInfovisLayout;vtkViewsCore;vtkproj4;/usr/lib/x86_64-linux-gnu/libpython2.7.so;vtkTestingGenericBridge;/usr/lib/libgl2ps.so;verdict;vtkIOMovie;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkFiltersImaging;vtkIOMINC;vtkRenderingLOD;vtkViewsQt;vtkGUISupportQt;vtkViewsInfovis;vtkChartsCore;vtkRenderingContext2D;vtkRenderingLabel;vtkRenderingImage;vtkFiltersFlowPaths;vtkxdmf2;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkFiltersReebGraph;vtkViewsContext2D;vtkIOXdmf2;vtkIOAMR;vtkRenderingContextOpenGL;vtkImagingStatistics;vtkIOParallel;vtkFiltersParallel;vtkIONetCDF;vtkexoIIc;vtkGUISupportQtOpenGL;vtkIOParallelLSDyna;vtkFiltersParallelGeometry;vtkGUISupportQtWebkit;vtkIOPLY;vtkWrappingTools;vtkFiltersHyperTree;vtkRenderingVolumeOpenGL;vtkIOExodus;vtkIOPostgreSQL;vtkIOSQL;sqlite3;vtkWrappingJava;vtkFiltersParallelFlowPaths;vtkFiltersParallelStatistics;vtkFiltersProgrammable;vtkFiltersParallelImaging;vtkRenderingParallelLIC;vtkRenderingLIC;vtkInteractionImage;vtkFiltersPython;vtkWrappingPythonCore;vtkIOParallelExodus;vtkFiltersGeneric;vtkIOVideo;vtkRenderingQt;vtkFiltersTexture;vtkIOInfovis;vtkGUISupportQtSQL;vtkRenderingFreeTypeOpenGL;vtkInfovisBoostGraphAlgorithms;vtkRenderingGL2PS;vtkIOGeoJSON;vtkFiltersVerdict;vtkViewsGeovis;vtkIOImport;vtkTestingIOSQL;vtkPythonInterpreter;vtkIOODBC;vtkIOEnSight;vtkIOMySQL;vtkRenderingMatplotlib;vtkDomainsChemistry;vtkIOExport;vtkFiltersParallelMPI;vtkIOParallelXML;vtkTestingRendering;vtkIOMPIParallel;vtkParallelMPI4Py;vtkFiltersSMP;vtkFiltersSelection;vtkIOVPIC;VPIC;vtkImagingMath;vtkImagingMorphological;vtkRenderingParallel;vtkRenderingFreeTypeFontConfig;vtkIOFFMPEG;vtkIOMPIImage;vtkIOGDAL (Required is at least version "1.7")
-- PCL_INCLUDE_DIRS:/usr/include/pcl-1.7/usr/include/eigen3/usr/include/usr/include/ni/usr/include/openni2/usr/include/vtk-6.2/usr/include/freetype2/usr/include/x86_64-linux-gnu/freetype2/usr/include/jsoncpp/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include/usr/lib/openmpi/include/usr/lib/openmpi/include/openmpi/usr/include/python2.7/usr/include/x86_64-linux-gnu/usr/include/hdf5/openmpi/usr/include/libxml2/usr/include/tcl
-- PCL_LIBRARY_DIRS:/usr/lib/x86_64-linux-gnu
-- PCL_DEFINITIONS:-DEIGEN_USE_NEW_STDVECTOR-DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET-DFLANN_STATIC-Dqh_QHpointer
-- Found OpenMP_C: -fopenmp (found version "4.0")
-- Found OpenMP_CXX: -fopenmp (found version "4.0")
-- Found OpenMP: TRUE (found version "4.0")
-- +++ processing catkin package: 'hdl_localization'
-- ==> add_subdirectory(hdl_localization)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- filesystem
-- thread
-- date_time
-- iostreams
-- serialization
-- chrono
-- atomic
-- regex
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist. Possible reasons include:

• The file was deleted, renamed, or moved to another location.
• An install or uninstall procedure did not complete successfully.
• The installation package was faulty and contained
  "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
  but not all the files it references.

-- The imported target "vtk" references the file
"/usr/bin/vtk"
but this file does not exist. Possible reasons include:

• The file was deleted, renamed, or moved to another location.
• An install or uninstall procedure did not complete successfully.
• The installation package was faulty and contained
  "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
  but not all the files it references.

-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_IO
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_GEOMETRY
-- looking for PCL_FEATURES
-- looking for PCL_SEGMENTATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_RECOGNITION
-- looking for PCL_KEYPOINTS
-- looking for PCL_VISUALIZATION
-- looking for PCL_PEOPLE
-- looking for PCL_OUTOFCORE
-- looking for PCL_TRACKING
-- looking for PCL_APPS
-- Could NOT find PCL_APPS (missing: PCL_APPS_LIBRARY)
-- looking for PCL_MODELER
-- looking for PCL_IN_HAND_SCANNER
-- looking for PCL_POINT_CLOUD_EDITOR
-- PCL_INCLUDE_DIRS:/usr/include/pcl-1.7/usr/include/eigen3/usr/include/usr/include/ni/usr/include/openni2/usr/include/vtk-6.2/usr/include/freetype2/usr/include/x86_64-linux-gnu/freetype2/usr/include/jsoncpp/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include/usr/lib/openmpi/include/usr/lib/openmpi/include/openmpi/usr/include/python2.7/usr/include/x86_64-linux-gnu/usr/include/hdf5/openmpi/usr/include/libxml2/usr/include/tcl
-- PCL_LIBRARY_DIRS:/usr/lib/x86_64-linux-gnu
-- PCL_DEFINITIONS:-DEIGEN_USE_NEW_STDVECTOR-DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET-DFLANN_STATIC-Dqh_QHpointer
-- Found OpenMP_C: -fopenmp
-- Found OpenMP_CXX: -fopenmp
-- Found OpenMP: TRUE
-- +++ processing catkin package: 'hdl_graph_slam'
-- ==> add_subdirectory(hdl_graph_slam)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- filesystem
-- thread
-- date_time
-- iostreams
-- serialization
-- chrono
-- atomic
-- regex
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist. Possible reasons include:

• The file was deleted, renamed, or moved to another location.
• An install or uninstall procedure did not complete successfully.
• The installation package was faulty and contained
  "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
  but not all the files it references.

-- The imported target "vtk" references the file
"/usr/bin/vtk"
but this file does not exist. Possible reasons include:

• The file was deleted, renamed, or moved to another location.
• An install or uninstall procedure did not complete successfully.
• The installation package was faulty and contained
  "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
  but not all the files it references.

-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_IO
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_GEOMETRY
-- looking for PCL_FEATURES
-- looking for PCL_SEGMENTATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_RECOGNITION
-- looking for PCL_KEYPOINTS
-- looking for PCL_VISUALIZATION
-- looking for PCL_PEOPLE
-- looking for PCL_OUTOFCORE
-- looking for PCL_TRACKING
-- looking for PCL_APPS
-- Could NOT find PCL_APPS (missing: PCL_APPS_LIBRARY)
-- looking for PCL_MODELER
-- looking for PCL_IN_HAND_SCANNER
-- looking for PCL_POINT_CLOUD_EDITOR
-- PCL_INCLUDE_DIRS:/usr/include/pcl-1.7/usr/include/eigen3/usr/include/usr/include/ni/usr/include/openni2/usr/include/vtk-6.2/usr/include/freetype2/usr/include/x86_64-linux-gnu/freetype2/usr/include/jsoncpp/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/usr/lib/openmpi/include/openmpi/opal/mca/event/libevent2021/libevent/include/usr/lib/openmpi/include/usr/lib/openmpi/include/openmpi/usr/include/python2.7/usr/include/x86_64-linux-gnu/usr/include/hdf5/openmpi/usr/include/libxml2/usr/include/tcl
-- PCL_LIBRARY_DIRS:/usr/lib/x86_64-linux-gnu
-- PCL_DEFINITIONS:-DEIGEN_USE_NEW_STDVECTOR-DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET-DFLANN_STATIC-Dqh_QHpointer
-- hdl_graph_slam: 1 messages, 2 services
-- Configuring done
-- Generating done
-- Build files have been written to: /home/test/catkin_ws/build

Running command: "make -j4 -l4" in "/home/test/catkin_ws/build"

Scanning dependencies of target _hdl_people_tracking_generate_messages_check_deps_TrackArray
Scanning dependencies of target _hdl_people_tracking_generate_messages_check_deps_ClusterArray
Scanning dependencies of target _hdl_people_tracking_generate_messages_check_deps_Track
Scanning dependencies of target std_msgs_generate_messages_nodejs
[ 0%] Built target _hdl_people_tracking_generate_messages_check_deps_Track
[ 0%] Built target _hdl_people_tracking_generate_messages_check_deps_ClusterArray
[ 0%] Built target _hdl_people_tracking_generate_messages_check_deps_TrackArray
Scanning dependencies of target geometry_msgs_generate_messages_nodejs
[ 0%] Built target std_msgs_generate_messages_nodejs
Scanning dependencies of target _hdl_people_tracking_generate_messages_check_deps_Cluster
Scanning dependencies of target geometry_msgs_generate_messages_cpp
[ 0%] Built target geometry_msgs_generate_messages_nodejs
[ 0%] Built target geometry_msgs_generate_messages_cpp
Scanning dependencies of target std_msgs_generate_messages_cpp
Scanning dependencies of target geometry_msgs_generate_messages_eus
Scanning dependencies of target std_msgs_generate_messages_eus
[ 0%] Built target geometry_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_cpp
Scanning dependencies of target std_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_eus
Scanning dependencies of target geometry_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_py
Scanning dependencies of target geometry_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_py
Scanning dependencies of target _hdl_graph_slam_generate_messages_check_deps_SaveMap
Scanning dependencies of target ndt_omp
[ 0%] Built target _hdl_people_tracking_generate_messages_check_deps_Cluster
Scanning dependencies of target _hdl_graph_slam_generate_messages_check_deps_DumpGraph
Scanning dependencies of target _hdl_graph_slam_generate_messages_check_deps_FloorCoeffs
[ 0%] Built target _hdl_graph_slam_generate_messages_check_deps_SaveMap
[ 0%] Built target _hdl_graph_slam_generate_messages_check_deps_DumpGraph
[ 0%] Built target _hdl_graph_slam_generate_messages_check_deps_FloorCoeffs
Scanning dependencies of target hdl_people_tracking_generate_messages_nodejs
Scanning dependencies of target hdl_people_tracking_generate_messages_eus
Scanning dependencies of target hdl_people_tracking_generate_messages_cpp
[ 2%] Generating Javascript code from hdl_people_tracking/ClusterArray.msg
[ 2%] Generating EusLisp code from hdl_people_tracking/ClusterArray.msg
[ 4%] Generating C++ code from hdl_people_tracking/ClusterArray.msg
[ 5%] Generating Javascript code from hdl_people_tracking/Cluster.msg
[ 7%] Generating EusLisp code from hdl_people_tracking/Cluster.msg
[ 8%] Building CXX object ndt_omp/CMakeFiles/ndt_omp.dir/src/pclomp/voxel_grid_covariance_omp.cpp.o
[ 10%] Generating Javascript code from hdl_people_tracking/TrackArray.msg
[ 11%] Generating EusLisp code from hdl_people_tracking/TrackArray.msg
[ 12%] Generating Javascript code from hdl_people_tracking/Track.msg
[ 14%] Generating C++ code from hdl_people_tracking/Cluster.msg
[ 14%] Built target hdl_people_tracking_generate_messages_nodejs
[ 15%] Generating EusLisp code from hdl_people_tracking/Track.msg
Scanning dependencies of target hdl_people_tracking_generate_messages_lisp
[ 17%] Generating Lisp code from hdl_people_tracking/ClusterArray.msg
[ 18%] Generating Lisp code from hdl_people_tracking/Cluster.msg
[ 20%] Generating EusLisp manifest code for hdl_people_tracking
[ 21%] Generating Lisp code from hdl_people_tracking/TrackArray.msg
[ 22%] Generating C++ code from hdl_people_tracking/TrackArray.msg
[ 24%] Generating Lisp code from hdl_people_tracking/Track.msg
[ 24%] Built target hdl_people_tracking_generate_messages_lisp
Scanning dependencies of target hdl_people_tracking_generate_messages_py
[ 25%] Generating Python from MSG hdl_people_tracking/ClusterArray
[ 27%] Generating C++ code from hdl_people_tracking/Track.msg
[ 28%] Generating Python from MSG hdl_people_tracking/Cluster
[ 30%] Generating Python from MSG hdl_people_tracking/TrackArray
[ 31%] Generating Python from MSG hdl_people_tracking/Track
[ 31%] Built target hdl_people_tracking_generate_messages_cpp
Scanning dependencies of target hdl_graph_slam_generate_messages_cpp
[ 32%] Generating C++ code from hdl_graph_slam/FloorCoeffs.msg
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[ 35%] Generating Python msg init.py for hdl_people_tracking
[ 35%] Built target hdl_people_tracking_generate_messages_py
Scanning dependencies of target hdl_graph_slam_generate_messages_eus
[ 37%] Generating EusLisp code from hdl_graph_slam/FloorCoeffs.msg
[ 38%] Generating EusLisp code from hdl_graph_slam/DumpGraph.srv
[ 40%] Generating C++ code from hdl_graph_slam/SaveMap.srv
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[ 42%] Built target hdl_graph_slam_generate_messages_cpp
Scanning dependencies of target hdl_graph_slam_generate_messages_py
[ 44%] Generating Python from MSG hdl_graph_slam/FloorCoeffs
[ 45%] Generating Python code from SRV hdl_graph_slam/DumpGraph
[ 47%] Generating Python code from SRV hdl_graph_slam/SaveMap
[ 48%] Generating Python msg init.py for hdl_graph_slam
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[ 50%] Built target hdl_graph_slam_generate_messages_py
[ 51%] Building CXX object ndt_omp/CMakeFiles/ndt_omp.dir/src/pclomp/ndt_omp.cpp.o
[ 51%] Built target hdl_people_tracking_generate_messages_eus
[ 52%] Building CXX object ndt_omp/CMakeFiles/ndt_omp.dir/src/pclomp/gicp_omp.cpp.o
[ 52%] Built target hdl_graph_slam_generate_messages_eus
Scanning dependencies of target hdl_graph_slam_generate_messages_nodejs
[ 54%] Generating Javascript code from hdl_graph_slam/FloorCoeffs.msg
[ 55%] Generating Javascript code from hdl_graph_slam/DumpGraph.srv
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[ 57%] Built target hdl_graph_slam_generate_messages_nodejs
Scanning dependencies of target hdl_graph_slam_generate_messages_lisp
[ 58%] Generating Lisp code from hdl_graph_slam/FloorCoeffs.msg
[ 60%] Generating Lisp code from hdl_graph_slam/DumpGraph.srv
[ 61%] Generating Lisp code from hdl_graph_slam/SaveMap.srv
[ 61%] Built target hdl_graph_slam_generate_messages_lisp
Scanning dependencies of target hdl_people_tracking_generate_messages
[ 61%] Built target hdl_people_tracking_generate_messages
Scanning dependencies of target hdl_people_tracking_gencpp
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Scanning dependencies of target hdl_graph_slam_gencpp
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Scanning dependencies of target hdl_graph_slam_generate_messages
[ 61%] Built target hdl_graph_slam_generate_messages
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[ 62%] Building CXX object hdl_people_tracking/CMakeFiles/hdl_people_tracking_nodelet.dir/apps/hdl_people_tracking_nodelet.cpp.o
Scanning dependencies of target hdl_people_detection_nodelet
[ 64%] Building CXX object hdl_people_tracking/CMakeFiles/hdl_people_detection_nodelet.dir/apps/hdl_people_detection_nodelet.cpp.o
[ 65%] Building CXX object hdl_people_tracking/CMakeFiles/hdl_people_detection_nodelet.dir/src/kidono_human_classifier.cpp.o
[ 67%] Linking CXX shared library /home/test/catkin_ws/devel/lib/libhdl_people_tracking_nodelet.so
[ 67%] Built target hdl_people_tracking_nodelet
[ 68%] Building CXX object hdl_people_tracking/CMakeFiles/hdl_people_detection_nodelet.dir/src/people_detector.cpp.o
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[ 71%] Building CXX object ndt_omp/CMakeFiles/align.dir/apps/align.cpp.o
/home/test/catkin_ws/src/hdl_people_tracking/src/kidono_human_classifier.cpp: In constructor ‘hdl_people_detection::KidonoHumanClassifier::KidonoHumanClassifier(const string&, const string&)’:
/home/test/catkin_ws/src/hdl_people_tracking/src/kidono_human_classifier.cpp:21:42: error: no matching function for call to .cv::ml::Boost::load(const string&)’
boost = cv::ml::Boost::load(modelfile);
^
In file included from /opt/ros/kinetic/include/opencv-3.2.0-dev/opencv2/opencv.hpp:52:0,
from /home/test/catkin_ws/src/hdl_people_tracking/include/hdl_people_detection/kidono_human_classifier.h:6,
from /home/test/catkin_ws/src/hdl_people_tracking/src/kidono_human_classifier.cpp:1:
/opt/ros/kinetic/include/opencv-3.2.0-dev/opencv2/core.hpp:3074:44: note: candidate: template static cv::Ptr cv::Algorithm::load(const cv::String&, const cv::String&)
template static Ptr<_Tp> load(const String& filename, const String& objname=String())
^
/opt/ros/kinetic/include/opencv-3.2.0-dev/opencv2/core.hpp:3074:44: note: template argument deduction/substitution failed:
/home/test/catkin_ws/src/hdl_people_tracking/src/kidono_human_classifier.cpp:21:42: note: couldn't deduce template parameter ‘_Tp’
boost = cv::ml::Boost::load(modelfile);
^
hdl_people_tracking/CMakeFiles/hdl_people_detection_nodelet.dir/build.make:75: recipe for target 'hdl_people_tracking/CMakeFiles/hdl_people_detection_nodelet.dir/src/kidono_human_classifier.cpp.o' failed
make[2]: *** [hdl_people_tracking/CMakeFiles/hdl_people_detection_nodelet.dir/src/kidono_human_classifier.cpp.o] Error 1
make[2]: *** 正在等待未完成的任务....
Scanning dependencies of target globalmap_server_nodelet
[ 72%] Building CXX object hdl_localization/CMakeFiles/globalmap_server_nodelet.dir/apps/globalmap_server_nodelet.cpp.o
Scanning dependencies of target hdl_localization_nodelet
[ 74%] Building CXX object hdl_localization/CMakeFiles/hdl_localization_nodelet.dir/apps/hdl_localization_nodelet.cpp.o
CMakeFiles/Makefile2:2351: recipe for target 'hdl_people_tracking/CMakeFiles/hdl_people_detection_nodelet.dir/all' failed
make[1]: *** [hdl_people_tracking/CMakeFiles/hdl_people_detection_nodelet.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 75%] Linking CXX executable /home/test/catkin_ws/devel/lib/ndt_omp/align
[ 77%] Linking CXX shared library /home/test/catkin_ws/devel/lib/libglobalmap_server_nodelet.so
[ 77%] Built target align
[ 77%] Built target globalmap_server_nodelet
[ 78%] Linking CXX shared library /home/test/catkin_ws/devel/lib/libhdl_localization_nodelet.so
[ 78%] Built target hdl_localization_nodelet
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

Recording, creating, and training new model to track other objects

Hello,

I am able to get this package working perfectly with my own hardware. I really am impressed with how well the tracking works.

I would really like to expand the functionality of this by having other specific objects tracked in the same way it tracks humans.

I have used ROS extensively in the past, but mainly for simulation and control, so I have very little experience with machine vision.

This may be a stupid question, but how do you record and prepare a new data set to train a new model to be added to this package?

Any recommendations on how to start this process would be helpful!

missing Cluster.h

Thank you for providing your implementation. I tried to compile your source but there is missing file named Cluster.h in people_tracker.hpp:

hdl_people_tracking/include/hdl_people_tracking/people_tracker.hpp

Line 13 in 2d12516

#include <hdl_people_tracking/Cluster.h>

Would you please provide it? Thanks

ROS noetic

Someone has build this package on ROS noetic?

Hi, is there any rqt_graph sample image?

Hi, I'm new to people_detection.

I would like to ask that if you guys have any information about this project's rqt_graph.

since I tried to adapt this github code to my own lidar data (HDL-64), but it does not work well, and I think that's because of the parameters in sensor topics. So I would like to get information about the sensor topics name, which really goes into the hdl_people_tracking.

Thanks.

The result are totally wrong

Hi, I try to run tracking with localization but it crashed, so I run it using static, however, here is the result:

As you can see, the result are really bad.

Using localization enable there was an erro;

[ INFO] [1554198724.217023512, 1509348797.223132018]: search_method DIRECT7 is selected
[ INFO] [1554198724.217733968, 1509348797.223132018]: initialize pose estimator with specified parameters!!
[ INFO] [1554198724.222885185, 1509348797.233190960]: enable imu-based prediction
[ INFO] [1554198724.252989256, 1509348797.263452978]: create people detector
[ERROR] [1554198724.371459287, 1509348797.384917853]: globalmap has not been received!!
[ERROR] [1554198724.469907547, 1509348797.475566884]: globalmap has not been received!!
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0402 17:52:04.489428 10251 globalmap_server_nodelet.cpp:57] loading globalmap from: /media/jintain/wd/catkin_ws/src/hdl_localization/data/map.pcd
[ERROR] [1554198724.558325395, 1509348797.566369320]: globalmap has not been received!!
[ERROR] [1554198724.655749332, 1509348797.667289002]: globalmap has not been received!!
[ERROR] [1554198724.770443074, 1509348797.778099350]: globalmap has not been received!!
[ INFO] [1554198724.868525791, 1509348797.878839948]: globalmap received!
I0402 17:52:04.868526 10283 hdl_people_detection_nodelet.cpp:166] globalmap received!
[ERROR] [1554198724.873166629, 1509348797.878839948]: globalmap has not been received!!
I0402 17:52:04.928220 10283 hdl_people_detection_nodelet.cpp:171] background subtractor constructed
[velodyne_nodelet_manager-1] process has died [pid 10251, exit code -11, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=velodyne_nodelet_manager __log:=/home/ww/.ros/log/3275e8da-5450-11e9-8cb9-3497f693b553/velodyne_nodelet_manager-1.log].

How to run it properly? And why using static the result are bad?