Zhi Yan

Hi, have you tried this? https://github.com/yzrobot/cloud_annotation_tool/tree/devel Cheers.

Hi, the online initial classifier is not really necessary to be trained "offline" but rather by a human supervisor. This means the correctness of positive and negative samples is guaranteed...

Hi, there are many ways, for example you might be willing to prepare some positive and negative samples in advance and save them in one or more pcd files, read/load/learn...

Hi, which function are you referring to? [compute3ZoneCovarianceMatrix](https://github.com/yzrobot/online_learning/blob/single-sensor-ros-kinetic/object3d_detector/src/object3d_detector.cpp#L280) or [computeMomentOfInertiaTensorNormalized](https://github.com/yzrobot/online_learning/blob/single-sensor-ros-kinetic/object3d_detector/src/object3d_detector.cpp#L240)

So I guess you refer to this block? ``` Eigen::Matrix3f covariance; Eigen::Vector4f centroid; for(int i = 0; i < 3; i++) { pcl::compute3DCentroid(*zone_decomposed[i], centroid); pcl::computeCovarianceMatrix(*zone_decomposed[i], centroid, covariance); partial_covariance_2d[i*3+0] = covariance(0,0);...

Hi, the implementation was followed the original paper Sec. 3.3.1 and the [source code](https://pointclouds.org/documentation/group__common.html) of `pcl::compute3DCentroid` and `pcl::computeCovarianceMatrix`, and I think the original text and code could help you understand....

Hi, obviously you have more points to deal with. Since this "online learning" is actually a modular pipeline, you may need to consider "clustering" with your 64-line LIDAR first. To...

downsampling c.f.https://github.com/yzrobot/adaptive_clustering/blob/devel/src/adaptive_clustering.cpp

Hi, are you referring to [here](https://github.com/yzrobot/online_learning/blob/Kinetic/object3d_detector/src/object3d_detector.cpp#L501), if so: ``` - Function: double svm_predict(const struct svm_model *model, const struct svm_node *x); This function does classification or regression on a test vector...

> Hi: > First, I use downsampling with "setLeafSize(0.04f, 0.04f, 0.04f)" at "adaptive_clustering.cpp" with setting "VLP-16", the human can be clustered with box. The pointcloud size from "7xxxx" to "2xxxx",...