zju-fast-lab/fast-dynamic-vision

Detecting and Tracking Dynamic Objects with Event and Depth Sensing

fast-dynamic-vision's Issues

The question about the type of the depth image

Shouldn't the type of the depth image from D435i be CV_16UC1, represening 0~65535mm？

There is no unit conversion，so I want to ask why CV_8UC1 is used here?

  /* init depth image */
  cv::Mat depth_gray_u8(msg->height, msg->width, CV_8UC1);
  depth_gray_ = cv::Mat::zeros(cv::Size(msg->height, msg->width), CV_8UC1);

Greeting from an audience

Hi edmundwsy,

I have read your paper of FAST-Dynamic-Vision: Detection and Tracking Dynamic Objects with Event and Depth Sensing, and I appreciate your great job on motion compensation and dodging against dynamic objects . Could I know if your paper get accepted by IROS this year or not? If it did, would you mind publish the code as you said in the paper?

Best,
Charlie

what is the meaning of 'system_lib', which is in the CMakeLists.txt of line 125 under the event-detector directory.

there is a warning when i catkin_make the project:

Make Warning at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'system_lib' but neither
'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
event-detector/CMakeLists.txt:113 (catkin_package)

looking forward to your reply very much

Configuration of the UAV

Hey team, you guys have implemented an amazing work. I just have a question about the configuration of the UAV. Did the configuration same to Fast-Drone-250?

How to connect to network using Manifold 2C

你好，我最近也在尝试使用妙算2C作为飞机的机载板，但是我用无线网卡不能连接到局域网上，请问你们怎么解决的妙算2C的无线连接问题，谢谢！！

catkin make error

When I compile,the terminal display

......
[ 92%] Building CXX object bullet_traj/CMakeFiles/CAMERA_MODELS.dir/src/camera_models/code_utils/cv_utils.cc.o
[ 93%] Linking CXX executable /home/kyle/code/ros/FAST-Dynamic-Vision/devel/lib/detector/detector_node
/usr/bin/ld: warning: libopencv_imgproc.so.3.4, needed by /usr/local/lib/libopencv_highgui.so.3.4.10, may conflict with libopencv_imgproc.so.3.2
/usr/bin/ld: warning: libopencv_core.so.3.4, needed by /usr/local/lib/libopencv_highgui.so.3.4.10, may conflict with libopencv_core.so.3.2
CMakeFiles/detector_node.dir/src/depth_est.cpp.o：在函数‘DepthEst::main(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)’中：
/home/kyle/code/ros/FAST-Dynamic-Vision/src/event-detector/src/depth_est.cpp:52：对‘cv::rgbd::registerDepth(cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::Size_<int> const&, cv::_OutputArray const&, bool)’未定义的引用
collect2: error: ld returned 1 exit status
event-detector/CMakeFiles/detector_node.dir/build.make:274: recipe for target '/home/kyle/code/ros/FAST-Dynamic-Vision/devel/lib/detector/detector_node' failed
make[2]: *** [/home/kyle/code/ros/FAST-Dynamic-Vision/devel/lib/detector/detector_node] Error 1
CMakeFiles/Makefile2:3133: recipe for target 'event-detector/CMakeFiles/detector_node.dir/all' failed
make[1]: *** [event-detector/CMakeFiles/detector_node.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
[ 93%] Linking CXX shared library /home/kyle/code/ros/FAST-Dynamic-Vision/devel/lib/libCAMERA_MODELS.so
[ 93%] Built target CAMERA_MODELS
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

I don't know how to solve this problem.
My system version is 18.04 , opencv version is 3.2(ros install) and 3.4 (my install).
Full information below

Source space: /home/kyle/code/ros/FAST-Dynamic-Vision/src
Build space: /home/kyle/code/ros/FAST-Dynamic-Vision/build
Devel space: /home/kyle/code/ros/FAST-Dynamic-Vision/devel
Install space: /home/kyle/code/ros/FAST-Dynamic-Vision/install
####
#### Running command: "cmake /home/kyle/code/ros/FAST-Dynamic-Vision/src -DCATKIN_DEVEL_PREFIX=/home/kyle/code/ros/FAST-Dynamic-Vision/devel -DCMAKE_INSTALL_PREFIX=/home/kyle/code/ros/FAST-Dynamic-Vision/install -G Unix Makefiles" in "/home/kyle/code/ros/FAST-Dynamic-Vision/build"
####
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- 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/kyle/code/ros/FAST-Dynamic-Vision/devel
-- Using CMAKE_PREFIX_PATH: /home/kyle/code/px4/catkin/devel;/opt/ros/melodic
-- This workspace overlays: /home/kyle/code/px4/catkin/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/kyle/code/ros/FAST-Dynamic-Vision/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17") 
-- 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  
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 8 packages in topological order:
-- ~~  - dvs_msgs
-- ~~  - quadrotor_msgs
-- ~~  - pose_utils
-- ~~  - detector
-- ~~  - odom_visualization
-- ~~  - traj_utils
-- ~~  - bullet_traj_est
-- ~~  - rviz_plugins
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'dvs_msgs'
-- ==> add_subdirectory(Utils/dvs_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- dvs_msgs: 2 messages, 0 services
-- +++ processing catkin package: 'quadrotor_msgs'
-- ==> add_subdirectory(Utils/quadrotor_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- quadrotor_msgs: 13 messages, 0 services
-- Found Eigen3: /usr/include/eigen3 (Required is at least version "2.91.0") 
-- +++ processing catkin package: 'pose_utils'
-- ==> add_subdirectory(Utils/pose_utils)
-- Found Armadillo: /usr/lib/x86_64-linux-gnu/libarmadillo.so (found version "11.0.1") 
-- +++ processing catkin package: 'detector'
-- ==> add_subdirectory(event-detector)
CMake Warning (dev) at event-detector/CMakeLists.txt:182:
  Syntax Warning in cmake code at column 40

  Argument not separated from preceding token by whitespace.
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at event-detector/CMakeLists.txt:183:
  Syntax Warning in cmake code at column 31

  Argument not separated from preceding token by whitespace.
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at event-detector/CMakeLists.txt:184:
  Syntax Warning in cmake code at column 36

  Argument not separated from preceding token by whitespace.
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found OpenCV: /usr/local (found version "3.4.10") 
CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'system_lib' but neither
  'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  event-detector/CMakeLists.txt:113 (catkin_package)


CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'EIGEN3' but neither 'EIGEN3_INCLUDE_DIRS' nor
  'EIGEN3_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  event-detector/CMakeLists.txt:113 (catkin_package)


-- PRINT OpenCV version: 3.4.10
-- OpenCV libs: opencv_calib3dopencv_coreopencv_dnnopencv_features2dopencv_flannopencv_highguiopencv_imgcodecsopencv_imgprocopencv_mlopencv_objdetectopencv_photoopencv_shapeopencv_stitchingopencv_superresopencv_videoopencv_videoioopencv_videostabopencv_viz
-- OpenCV libs dir : /usr/local/include/usr/local/include/opencv
-- +++ processing catkin package: 'odom_visualization'
-- ==> add_subdirectory(Utils/odom_visualization)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'traj_utils'
-- ==> add_subdirectory(planner/traj_utils)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- traj_utils: 2 messages, 0 services
-- +++ processing catkin package: 'bullet_traj_est'
-- ==> add_subdirectory(bullet_traj)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   system
-- Found CXSparse: /usr/include/suitesparse (found suitable version "3.1.9", minimum required is "3.1.9") 
-- A library with BLAS API found.
-- Found AMD headers in: /usr/include/suitesparse
-- Found AMD library: /usr/lib/x86_64-linux-gnu/libamd.so
-- Found CAMD headers in: /usr/include/suitesparse
-- Found CAMD library: /usr/lib/x86_64-linux-gnu/libcamd.so
-- Found CCOLAMD headers in: /usr/include/suitesparse
-- Found CCOLAMD library: /usr/lib/x86_64-linux-gnu/libccolamd.so
-- Found CHOLMOD headers in: /usr/include/suitesparse
-- Found CHOLMOD library: /usr/lib/x86_64-linux-gnu/libcholmod.so
-- Found COLAMD headers in: /usr/include/suitesparse
-- Found COLAMD library: /usr/lib/x86_64-linux-gnu/libcolamd.so
-- Found SPQR headers in: /usr/include/suitesparse
-- Found SPQR library: /usr/lib/x86_64-linux-gnu/libspqr.so
-- Found Config headers in: /usr/include/suitesparse
-- Found Config library: /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so
-- Did not find Intel TBB library, assuming SuiteSparseQR was not compiled with TBB.
-- Looking for shm_open in rt
-- Looking for shm_open in rt - found
-- Adding librt to SuiteSparse_config libraries (required on Linux & Unix [not OSX] if SuiteSparse is compiled with timing).
-- Could NOT find METIS (missing: METIS_INCLUDE_DIR METIS_LIBRARY) 
-- Found SuiteSparse: /usr/include/suitesparse (found suitable version "5.1.2", minimum required is "5.1.2") found components:  AMD CAMD CCOLAMD CHOLMOD COLAMD SPQR Config 
-- Found required Ceres dependency: Eigen version 3.3.4 in /usr/lib/cmake/eigen3
-- Found required Ceres dependency: glog
-- Found required Ceres dependency: gflags
-- Found Ceres version: 2.1.0 installed in: /usr/local with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, Multithreading]
-- [STATUS] OpenCV library status:
-- [STATUS]     version: 3.4.10
-- [STATUS]     libraries: opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_shape;opencv_stitching;opencv_superres;opencv_video;opencv_videoio;opencv_videostab;opencv_viz
-- [STATUS]     include path: /usr/local/include;/usr/local/include/opencv
-- [STATUS] Eigen library path: /usr/include/eigen3
-- +++ processing catkin package: 'rviz_plugins'
-- ==> add_subdirectory(Utils/rviz_plugins)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'system_lib' but neither
  'system_lib_INCLUDE_DIRS' nor 'system_lib_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  Utils/rviz_plugins/CMakeLists.txt:11 (catkin_package)


-- Using Qt5 based on the rviz_QT_VERSION: 5.9.5
-- Configuring done
CMake Warning (dev) at Utils/rviz_plugins/CMakeLists.txt:65 (add_dependencies):
  Policy CMP0046 is not set: Error on non-existent dependency in
  add_dependencies.  Run "cmake --help-policy CMP0046" for policy details.
  Use the cmake_policy command to set the policy and suppress this warning.

  The dependency target "multi_map_server_generate_messages_cpp" of target
  "rviz_plugins" does not exist.
This warning is for project developers.  Use -Wno-dev to suppress it.

WARNING: Target "detector_node" requests linking to directory "/home/kyle/code/ros/FAST-Dynamic-Vision/devel/include".  Targets may link only to libraries.  CMake is dropping the item.
WARNING: Target "detector_node" requests linking to directory "/opt/ros/melodic/include".  Targets may link only to libraries.  CMake is dropping the item.
WARNING: Target "detector_node" requests linking to directory "/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp".  Targets may link only to libraries.  CMake is dropping the item.
WARNING: Target "detector_node" requests linking to directory "/usr/include".  Targets may link only to libraries.  CMake is dropping the item.
WARNING: Target "detector_node" requests linking to directory "/usr/include/opencv".  Targets may link only to libraries.  CMake is dropping the item.
-- Generating done
-- Build files have been written to: /home/kyle/code/ros/FAST-Dynamic-Vision/build
####
#### Running command: "make -j8 -l8" in "/home/kyle/code/ros/FAST-Dynamic-Vision/build"
####
Scanning dependencies of target _dvs_msgs_generate_messages_check_deps_Event
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[ 78%] Building CXX object bullet_traj/CMakeFiles/CAMERA_MODELS.dir/src/camera_models/CataCamera.cc.o
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[ 80%] Linking CXX shared library /home/kyle/code/ros/FAST-Dynamic-Vision/devel/lib/librviz_plugins.so
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/usr/bin/ld: warning: libopencv_imgproc.so.3.4, needed by /usr/local/lib/libopencv_highgui.so.3.4.10, may conflict with libopencv_imgproc.so.3.2
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/home/kyle/code/ros/FAST-Dynamic-Vision/src/event-detector/src/depth_est.cpp:52：对‘cv::rgbd::registerDepth(cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::Size_<int> const&, cv::_OutputArray const&, bool)’未定义的引用
collect2: error: ld returned 1 exit status
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[ 93%] Linking CXX shared library /home/kyle/code/ros/FAST-Dynamic-Vision/devel/lib/libCAMERA_MODELS.so
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Invoking "make -j8 -l8" failed

Can I use a D435i camera instead of an event camera?

At present, I only have a D435i camera. Can I use this to complete this project? Will it be troublesome to implement?

Onboard computer computing power problem

What is the on-board computer used by this UAV system?is Manifold 2-C? Did the NUC can achieve this function ？
Look forward to reply.

Can't find 'test_mavros_vins.bag'