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

[Zhang-Qinghui]

[koide3]

Hi @Zhang-Qinghui , We mainly use 32 and 16-line velodyne LIDARs (HDL32e and VLP16).

[Zhang-Qinghui]

yes,it is amazing. But why the piontcloud is so dense？

[koide3]

If you are referring to the video on youtube, it's a standard 32line LIDAR, and we didn't do anything special.

[Zhang-Qinghui]

Thanks for your reply. I got it. I have try to run your code with my data bag from VLP16.But the result is not so good. What's your human body detection precision ?

[koide3]

Some parameters are tuned for 32line, and you may need to tweak them for your sensor. Please see the launch file to find the params to be tuned.

[Zhang-Qinghui]

Thanks for your reply.I did not find the parameter in 'hdl_people_tracking_static.launch' or 'hdl_people_tracking.launch' to adjust the lines of velodyne. In addition, I can detect some human body without adjust params, but I can not detect it when the human body is fragmentary or the human body is sparse. I want to know the detection precision and detection distance of human body.Thank you in advance.

[koide3]

Probably, the false negatives are caused by the classifier which was trained with 32line data. Try to set "enable_classification" to false to see if it works.

We have not evaluated the precision-vs-distance curve. I would be glad if you could do some tests to check it out.