How to realize pedestrians detection？

[mangoandbanana]

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.

[koide3]

Hi @libinJiang , If you use a static LIDAR, you can try hdl_people_tracking_static.launch that uses the very first input frame as the environment map.

[Baldins]

i have the same problem even using the static launch. the marker is always empty and can not track the pedestrians in my bag file. Any help?

Thank you!

Francesca

[jamesheatonrdm]

@Baldins what kind of LiDAR are you using in your bag file? I also cannot get any detections from my bag, however I think this is because I am using a 16-layer scanner which is just too sparse to make a detection.