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Published 20 hours ago • verified publisher icon w111liang222

How to use other format datasets to test performance

Open XinyuMeng opened this issue 1 year ago • 12 comments

Thank you for open source this excellent work, it is worthy of my serious study. I noticed that the data you provided are all in python's .pkl format. If I want to test other SLAM datasets such as NCLT, do I have to process them into .pkl files first? Or do you have other ideas?Looking forward to your reply (^▽^)

XinyuMeng avatar Sep 12 '23 03:09 XinyuMeng

Hello, LSD supports communication with ROS, you can refer this https://github.com/w111liang222/lidar-slam-detection/blob/main/tools/rosbag_proxy/README.md

The shortcoming of rosbag_proxy is that it can not transfer the timestamp of each points, the SLAM use the timestamp to undistort the points. so the ghost points will be visualized in the scenario with large rotation motion

w111liang222 avatar Sep 12 '23 06:09 w111liang222

Hello, LSD supports communication with ROS, you can refer this https://github.com/w111liang222/lidar-slam-detection/blob/main/tools/rosbag_proxy/README.md

The shortcoming of rosbag_proxy is that it can not transfer the timestamp of each points, the SLAM use the timestamp to undistort the points. so the ghost points will be visualized in the scenario with large rotation motion

Thank you for your reply. I just saw the relevant content of ROS interaction in your Zhihu article and am trying to use it.

XinyuMeng avatar Sep 12 '23 07:09 XinyuMeng

Sorry to bother you again. I tried to receive rostopic on the host (using the demo.bag you provided), but an error occurred. I tried for a long time but could not find out the reason. I would like to trouble you to provide me with some solution ideas. The error message is as follows:

  • 2023-09-18 15:57:33,362[2064:2064][camera_data_manager.py:207] camera http://127.0.0.1:imageflir0, try cap: souphttpsrc timeout=0 location=http://127.0.0.1: 17777/stream?topic=imageflir0 ! jpegparse ! jpegdec ! video/x-raw ! videoscale ! video/x-raw ! videoconvert ! video/x-raw,format=I420 ! tee name=t t. ! queue ! jpegenc ! shmsink socket-path=/tmp/camera_jpeg_0 sync=false t. ! queue ! appsink sync=false

  • 2023-09-18 15:57:33,393[2064:2064][camera_data_manager.py:210] camera http://127.0.0.1:imageflir0, can not open

  • Try connecting via curl in docker:

(base) mxy@mxy-System-Product-Name:~/LSD$ curl -v http://myhost:17777/stream?topic=imageflir0
*   Trying myhost:17777...
* Connected to myhost (myhost) port 17777 (#0)
> GET /stream?topic=imageflir0 HTTP/1.1
> Host: myhost:17777
> User-Agent: curl/7.82.0
> Accept: */*
> 
* Mark bundle as not supporting multiuse
* HTTP 1.0, assume close after body
< HTTP/1.0 404 Not Found #URL在服务器上不存在或未被识别
< Content-Length: 85
< Content-Type: text/html
< 
* Excess found in a read: excess = 156, size = 85, maxdownload = 85, bytecount = 0
* Closing connection 0
<html><head><title>Not Found</title></head><body><h1>404 Not Found</h1></body></html>

  • The communication between my docker and the host is normal, and the lidar data and detection results can be displayed on the LSD web page.

  • The complete terminal debug information is as follows:

root@mxy-System-Product-Name:~/exchange/lidar-slam-detection# tools/scripts/start_system.sh
run server python script
dpkg-query: no packages found matching nvidia-l4t-core
Running on board: IPC, machine: x86_64, jetpack: 20.04
访问时间: 2023-09-18 15:57:33, 访问的IP: ::1
访问时间: 2023-09-18 15:57:33, 访问的IP: ::1
2023-09-18 15:57:33,341[2064:2064][       infer.py: 31] image object detection is deactived
2023-09-18 15:57:33,346[2064:2064][module_manager.py: 74] Initialized modules: ['Split', 'Detect', 'SLAM', 'Merge', 'Sink']
2023-09-18 15:57:33,346[2064:2064][module_manager.py: 61] pipeline: Source connect to Split
2023-09-18 15:57:33,346[2064:2064][module_manager.py: 61] pipeline: Split connect to Detect
2023-09-18 15:57:33,346[2064:2064][module_manager.py: 61] pipeline: Detect connect to SLAM
2023-09-18 15:57:33,346[2064:2064][module_manager.py: 61] pipeline: SLAM connect to Merge
2023-09-18 15:57:33,346[2064:2064][module_manager.py: 61] pipeline: Merge connect to Sink
2023-09-18 15:57:33,346[2064:2064][module_manager.py: 89] start to setup module: Split
2023-09-18 15:57:33,346[2064:2064][module_manager.py: 91] setup module: Split, done
2023-09-18 15:57:33,346[2064:2064][module_manager.py: 89] start to setup module: Detect
2023-09-18 15:57:33,352[2064:2064][object_filter.py: 25] class mapping: {'vehicle': 1, 'pedestrian': 2, 'cyclist': 3, 'traffic_cone': 4}
2023-09-18 15:57:33,352[2064:2064][module_manager.py: 91] setup module: Detect, done
2023-09-18 15:57:33,352[2064:2064][module_manager.py: 89] start to setup module: SLAM
2023-09-18 15:57:33.353[2064:2075][localization.cpp:13] Localization: release static resources
2023-09-18 15:57:33.353[2064:2075][hdl_graph_slam_nodelet.cpp:123] releasing hdl graph nodelet...
2023-09-18 15:57:33,353[2064:2075][        slam.py: 52] SLAM use sensors: ['IMU', '1-Ouster-OS1-128']
2023-09-18 15:57:33,353[2064:2064][module_manager.py: 91] setup module: SLAM, done
2023-09-18 15:57:33,353[2064:2064][module_manager.py: 89] start to setup module: Merge
2023-09-18 15:57:33,353[2064:2064][module_manager.py: 91] setup module: Merge, done
2023-09-18 15:57:33,353[2064:2064][module_manager.py: 89] start to setup module: Sink
2023-09-18 15:57:33,356[2076:2076][sink_template.py: 58] deamon UdpSink starts
2023-09-18 15:57:33,356[2064:2064][module_manager.py: 91] setup module: Sink, done
2023-09-18 15:57:33,356[2064:2064][module_manager.py: 89] start to setup module: Source
2023-09-18 15:57:33,356[2064:2064][source_manager.py: 35] Source, start to setup: lidar
iKD-Tree Multi thread started 
2023-09-18 15:57:33.357[2064:2075][prefiltering_nodelet.cpp:39] downsample: VOXELGRID 0.3
2023-09-18 15:57:33.357[2064:2075][prefiltering_nodelet.cpp:78] outlier_removal: NONE
2023-09-18 15:57:33.357[2064:2075][hdl_graph_slam_nodelet.cpp:52] initializing hdl graph nodelet...
2023-09-18 15:57:33.357[2064:2075][graph_slam.cpp:56] construct solver: lm_var
# Using CSparse poseDim -1 landMarkDim -1 blockordering 0
2023-09-18 15:57:33.357[2064:2075][loop_detector.hpp:50] initializing loop detection...
2023-09-18 15:57:33.357[2064:2075][registrations.cpp:57] registration: FAST_VGICP
2023-09-18 15:57:33.357[2064:2075][registrations.cpp:34] registration: FAST_GICP
2023-09-18 15:57:33.358[2064:2064][lidar_driver_wrapper.cpp:34] lidar 0:Custom open success
2023-09-18 15:57:33.358[2064:2064][lidar_driver_wrapper.cpp:46] set lidar 0:Custom external parameter [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
2023-09-18 15:57:33.358[2064:2064][lidar_driver_wrapper.cpp:58] set lidar 0:Custom range filter [-72.0, -72.0, -2.0, 72.0, 72.0, 4.0]
2023-09-18 15:57:33.358[2064:2064][lidar_driver_wrapper.cpp:70] set lidar 0:Custom exclude [-0.5, -0.5, 0.0, 0.5, 0.5, 0.0]
2023-09-18 15:57:33,358[2064:2064][source_manager.py: 38] Source, setup: lidar, done
2023-09-18 15:57:33,358[2064:2064][source_manager.py: 35] Source, start to setup: camera
2023-09-18 15:57:33,362[2064:2064][camera_data_manager.py:207] camera http://127.0.0.1:imageflir0, try cap: souphttpsrc timeout=0 location=http://127.0.0.1:17777/stream?topic=imageflir0 ! jpegparse ! jpegdec ! video/x-raw  ! videoscale ! video/x-raw  ! videoconvert ! video/x-raw,format=I420 ! tee name=t
    t. ! queue ! jpegenc ! shmsink socket-path=/tmp/camera_jpeg_0 sync=false
    t. ! queue ! appsink sync=false 
[ WARN:[email protected]] global /tmp/opencv-4.5.5/modules/videoio/src/cap_gstreamer.cpp (2401) handleMessage OpenCV | GStreamer warning: Embedded video playback halted; module souphttpsrc0 reported: Not Found
[ WARN:[email protected]] global /tmp/opencv-4.5.5/modules/videoio/src/cap_gstreamer.cpp (1356) open OpenCV | GStreamer warning: unable to start pipeline
[ WARN:[email protected]] global /tmp/opencv-4.5.5/modules/videoio/src/cap_gstreamer.cpp (862) isPipelinePlaying OpenCV | GStreamer warning: GStreamer: pipeline have not been created
2023-09-18 15:57:33,393[2064:2064][camera_data_manager.py:210] camera http://127.0.0.1:imageflir0, can not open
2023-09-18 15:57:33,393[2064:2064][source_manager.py: 38] Source, setup: camera, done
2023-09-18 15:57:33,393[2064:2064][source_manager.py: 35] Source, start to setup: radar
2023-09-18 15:57:33,393[2064:2064][source_manager.py: 38] Source, setup: radar, done
2023-09-18 15:57:33,393[2064:2064][source_manager.py: 35] Source, start to setup: ins
2023-09-18 15:57:33.393[2064:2064][ins_driver_wrapper.cpp:19] ins open success
2023-09-18 15:57:33.393[2064:2064][ins_driver_wrapper.cpp:34] set ins external parameter [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
2023-09-18 15:57:33.393[2064:2104][ins_driver.cpp:317] start ins com receving, device /dev/ttyUSB0
2023-09-18 15:57:33.393[2064:2103][ins_driver.cpp:278] start ins udp receving, port 9888
2023-09-18 15:57:33.393[2064:2064][ins_driver_wrapper.cpp:43] ins start success
2023-09-18 15:57:33.393[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:33.393[2064:2105][ins_driver.cpp:378] start ins gps receving
2023-09-18 15:57:33,393[2064:2064][source_manager.py: 38] Source, setup: ins, done
2023-09-18 15:57:33.394[2064:2105][ins_driver.cpp:381] No GPSD running
2023-09-18 15:57:33,393[2064:2064][module_manager.py: 91] setup module: Source, done
2023-09-18 15:57:33,394[2064:2106][data_splitter.py: 42] data split peers: ['Detect']
2023-09-18 15:57:33,394[2064:2107][manager_template.py: 78] Detect, FPS: 9.4
2023-09-18 15:57:33,394[2064:2108][manager_template.py: 78] SLAM, FPS: 10.3
2023-09-18 15:57:33,394[2064:2109][manager_template.py: 78] Merge, FPS: 10.3
2023-09-18 15:57:33,394[2064:2111][data_manager_template.py: 57] Lidar: 0-Custom: acquire_loop start
2023-09-18 15:57:33.394[2064:2110][lidar_driver_wrapper.cpp:92] lidar 0:Custom start success
2023-09-18 15:57:33.394[2064:2113][lidar_driver.cpp:22] start lidar: Custom, receveing, port 2688
2023-09-18 15:57:33,394[2064:2110][manager_template.py: 78] Source, FPS: 10.3
2023-09-18 15:57:33,394[2064:2064][  perception.py: 42] start success
2023-09-18 15:57:33,407[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 39.1
2023-09-18 15:57:33,452[2064:2064][   http_sink.py: 90] http query FPS: 5.2
2023-09-18 15:57:33,452[2064:2064][   http_sink.py: 98] http client connect
2023-09-18 15:57:33,452[2064:2128][   http_sink.py: 72] http sink process loop start
2023-09-18 15:57:33.467[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:33,467[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 27.9
2023-09-18 15:57:33,467[2064:2110][manager_template.py: 78] Source, FPS: 12.0
2023-09-18 15:57:33,467[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:33.493[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:33.507[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:33.567[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:33,567[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 19.0
2023-09-18 15:57:33,567[2064:2110][manager_template.py: 78] Source, FPS: 11.0
2023-09-18 15:57:33,567[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:33.593[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:33.607[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:33.667[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:33,667[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 14.5
2023-09-18 15:57:33,667[2064:2110][manager_template.py: 78] Source, FPS: 10.5
2023-09-18 15:57:33,667[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:33.694[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:33.707[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:33.767[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:33,767[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 12.2
2023-09-18 15:57:33,767[2064:2110][manager_template.py: 78] Source, FPS: 10.2
2023-09-18 15:57:33,767[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:33.794[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:33.807[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:33.867[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:33,867[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 11.1
2023-09-18 15:57:33,867[2064:2110][manager_template.py: 78] Source, FPS: 10.1
2023-09-18 15:57:33,867[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:33.894[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:33.907[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
访问时间: 2023-09-18 15:57:33, 访问的IP: ::1
访问时间: 2023-09-18 15:57:33, 访问的IP: ::1
访问时间: 2023-09-18 15:57:33, 访问的IP: ::1
2023-09-18 15:57:33.966[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:33,967[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.6
2023-09-18 15:57:33,967[2064:2110][manager_template.py: 78] Source, FPS: 10.1
2023-09-18 15:57:33,967[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
访问时间: 2023-09-18 15:57:33, 访问的IP: ::1
2023-09-18 15:57:33,976[2064:2064][   http_sink.py: 92] http query FPS: 3.5
访问时间: 2023-09-18 15:57:33, 访问的IP: ::1
2023-09-18 15:57:33.994[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:34.007[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:34.067[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:34,067[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.3
2023-09-18 15:57:34,067[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:34,067[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:34.094[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:34.107[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:34.166[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:34,167[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.1
2023-09-18 15:57:34,167[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:34,167[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:34.194[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:34.207[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
访问时间: 2023-09-18 15:57:34, 访问的IP: ::1
2023-09-18 15:57:34.266[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:34,267[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.1
2023-09-18 15:57:34,267[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:34,267[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:34.294[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:34.307[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
访问时间: 2023-09-18 15:57:34, 访问的IP: ::1
2023-09-18 15:57:34.366[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:34,366[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.0
2023-09-18 15:57:34,367[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:34,367[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:34.394[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:34,394[2064:2107][detect_manager.py:124] frame queue is Empty
2023-09-18 15:57:34,394[2064:2109][ data_merger.py: 49] SLAM has no output
2023-09-18 15:57:34.407[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:34.467[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:34,467[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.0
2023-09-18 15:57:34,467[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:34,467[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:34.494[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
访问时间: 2023-09-18 15:57:34, 访问的IP: ::1
2023-09-18 15:57:34.507[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:34,507[2064:2064][   http_sink.py: 92] http query FPS: 2.7
2023-09-18 15:57:34.566[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:34,566[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.0
2023-09-18 15:57:34,567[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:34,567[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:34.594[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:34.607[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 39 ms
2023-09-18 15:57:34.666[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:34,667[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.0
2023-09-18 15:57:34,667[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:34,667[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:34.694[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:34.707[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:34.767[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:34,767[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.0
2023-09-18 15:57:34,767[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:34,767[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:34.794[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:34.807[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:34.866[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:34,866[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.0
2023-09-18 15:57:34,867[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:34,867[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:34.894[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:34.907[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:34.966[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:34,966[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.0
2023-09-18 15:57:34,967[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:34,967[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:34.994[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:35.007[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
访问时间: 2023-09-18 15:57:35, 访问的IP: ::1
2023-09-18 15:57:35,029[2064:2064][   http_sink.py: 92] http query FPS: 2.3
2023-09-18 15:57:35.066[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:35,067[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.0
2023-09-18 15:57:35,067[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:35,067[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:35.094[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:35.107[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:35.166[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:35,167[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.0
2023-09-18 15:57:35,167[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:35,167[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:35.194[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:35.207[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:35.267[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:35,267[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.0
2023-09-18 15:57:35,267[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:35,267[2064:2106][detect_manager.py: 92] overload: frame queue False, engine True, fusing False, tracking False
2023-09-18 15:57:35.294[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:35.307[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:35.366[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:35,366[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.0
2023-09-18 15:57:35,367[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:35,367[2064:2106][  infer_base.py: 76] lidarDet, prepare_data time is: 0.0 ms
2023-09-18 15:57:35.394[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:35,394[2064:2109][ data_merger.py: 49] SLAM has no output
2023-09-18 15:57:35,396[2064:2112][module_manager.py:134] system status Running, running thread/process information:
2023-09-18 15:57:35,396[2064:2112][module_manager.py:138] Thread  2064:Perception daemon False ident 0x7f87d1d19c00
2023-09-18 15:57:35,396[2064:2112][module_manager.py:138] Thread  2075:FastLIO    daemon True ident 0x7f87ae211700
2023-09-18 15:57:35,396[2064:2112][module_manager.py:138] Thread  2106:Thread-2   daemon True ident 0x7f879effd700
2023-09-18 15:57:35,396[2064:2112][module_manager.py:138] Thread  2107:Detect     daemon True ident 0x7f879e7fc700
2023-09-18 15:57:35,396[2064:2112][module_manager.py:138] Thread  2108:SLAM       daemon True ident 0x7f879dffb700
2023-09-18 15:57:35,396[2064:2112][module_manager.py:138] Thread  2109:Merge      daemon True ident 0x7f879d7fa700
2023-09-18 15:57:35,396[2064:2112][module_manager.py:138] Thread  2110:Source     daemon True ident 0x7f879cff9700
2023-09-18 15:57:35,396[2064:2112][module_manager.py:138] Thread  2111:Py-L0-Custom daemon True ident 0x7f878a7fc700
2023-09-18 15:57:35,396[2064:2112][module_manager.py:138] Thread  2114:zerorpc    daemon True ident 0x7f8788ff9700
2023-09-18 15:57:35,396[2064:2112][module_manager.py:138] Thread  2128:HttpSink   daemon True ident 0x7f8752ffd700
2023-09-18 15:57:35.407[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:35,450[2072:2072][  infer_base.py: 97] lidarDet inference time is: 82.3 ms
2023-09-18 15:57:35,451[2073:2073][detect_template.py: 61] fusion process time is: 0.0 ms
2023-09-18 15:57:35.467[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 59 ms
2023-09-18 15:57:35,467[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 10.0
2023-09-18 15:57:35,467[2064:2110][manager_template.py: 78] Source, FPS: 10.0
2023-09-18 15:57:35,467[2064:2106][  infer_base.py: 76] lidarDet, prepare_data time is: 0.0 ms
2023-09-18 15:57:35.494[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
访问时间: 2023-09-18 15:57:35, 访问的IP: ::1
2023-09-18 15:57:35.508[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 40 ms
2023-09-18 15:57:35,531[2074:2074][detect_template.py: 61] tracker process time is: 79.7 ms
2023-09-18 15:57:35,532[2064:2107][manager_template.py: 80] Detect, FPS: 4.9
2023-09-18 15:57:35,532[2064:2108][manager_template.py: 80] SLAM, FPS: 5.4
2023-09-18 15:57:35,532[2064:2109][manager_template.py: 80] Merge, FPS: 5.4
2023-09-18 15:57:35,547[2072:2072][  infer_base.py: 97] lidarDet inference time is: 79.2 ms
2023-09-18 15:57:35,547[2073:2073][detect_template.py: 61] fusion process time is: 0.0 ms
2023-09-18 15:57:35,548[2074:2074][detect_template.py: 61] tracker process time is: 0.8 ms
2023-09-18 15:57:35,549[2064:2107][manager_template.py: 78] Detect, FPS: 32.2
2023-09-18 15:57:35,549[2064:2108][manager_template.py: 78] SLAM, FPS: 32.5
2023-09-18 15:57:35,549[2064:2109][manager_template.py: 78] Merge, FPS: 32.9
访问时间: 2023-09-18 15:57:35, 访问的IP: ::1
2023-09-18 15:57:35,558[2064:2064][   http_sink.py: 92] http query FPS: 2.1
2023-09-18 15:57:35.566[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 34 ms
2023-09-18 15:57:35.594[2064:2104][SerialDriver.cpp:122] can not open device: /dev/ttyUSB0
2023-09-18 15:57:35,594[2064:2111][data_manager_template.py: 64] Lidar: 0-Custom, acquire FPS: 8.9
2023-09-18 15:57:35,595[2064:2110][manager_template.py: 78] Source, FPS: 8.9
2023-09-18 15:57:35,595[2064:2106][  infer_base.py: 76] lidarDet, prepare_data time is: 0.0 ms
2023-09-18 15:57:35.607[2064:2113][lidar_driver.cpp:37] lidar 0-Custom, receive buffer wait for 39 ms

XinyuMeng avatar Sep 18 '23 11:09 XinyuMeng

The lsd webpage is as follows： image

XinyuMeng avatar Sep 18 '23 11:09 XinyuMeng

The lsd webpage is as follows： image

Hello, Do you mean the image can not be received by lsd? You can try to launch the rosbag proxy firstly, then run the lsd

w111liang222 avatar Sep 18 '23 12:09 w111liang222

The lsd webpage is as follows： image

Hello, Do you mean the image can not be received by lsd? You can try to launch the rosbag proxy firstly, then run the lsd

Yes, LSD cannot receive image data. I tried the method you provided, but it doesn't seem to work. Are there any other solutions? Thanks

XinyuMeng avatar Sep 19 '23 01:09 XinyuMeng

I finally solved this problem, just change the name: http://127.0.0.1:imageflir0 in the configuration file to name: http://127.0.0.1:/imageflir0 😅 image

XinyuMeng avatar Sep 19 '23 08:09 XinyuMeng

I finally solved this problem, just change the name: http://127.0.0.1:imageflir0 in the configuration file to name: http://127.0.0.1:/imageflir0 😅 image

Sorry, I didn't carefully check the camera url in the config😅

w111liang222 avatar Sep 19 '23 14:09 w111liang222

I finally solved this problem, just change the name: http://127.0.0.1:imageflir0 in the configuration file to name: http://127.0.0.1:/imageflir0 😅 image

Sorry, I didn't carefully check the camera url in the config😅

As shown in the picture above, In the communication mode between lsd and ros, the web preview interface only has the current point cloud information and 3D detection information, and does not display the complete map. i would like to know how to display the complete map in the web interface and how to add other attributes such as the speed information of each 3D object. Look forward to your answers.

XinyuMeng avatar Sep 27 '23 02:09 XinyuMeng

@XinyuMeng The provided rodbag is to test the rosbag proxy tool, here is the slam mapping demo data: https://pan.baidu.com/s/1gEP5tYt2q3_omZD82OBDJg?pwd=g6u8  If you want to test slam mapping with rosbag, you need to convert it to rosbag(using the provided pkl_to_rosbag tool) firstly.

w111liang222 avatar Sep 27 '23 04:09 w111liang222

@XinyuMeng The provided rodbag is to test the rosbag proxy tool, here is the slam mapping demo data: https://pan.baidu.com/s/1gEP5tYt2q3_omZD82OBDJg?pwd=g6u8  If you want to test slam mapping with rosbag, you need to convert it to rosbag(using the provided pkl_to_rosbag tool) firstly.

Thank you very much for the data you provided. The slam mapping mode seems to be normal. What code should be modified if I want to display more information on the web page such as the speed of 3D objects. I am ashamed that I tried to read the source code you posted, but I am not very familiar with TVIZ and web-related knowledge and have no ideas, so I would like to ask you to give some tips. Thanks again♪(･ω･)ﾉ image

XinyuMeng avatar Sep 28 '23 07:09 XinyuMeng

@XinyuMeng The provided rodbag is to test the rosbag proxy tool, here is the slam mapping demo data: https://pan.baidu.com/s/1gEP5tYt2q3_omZD82OBDJg?pwd=g6u8  If you want to test slam mapping with rosbag, you need to convert it to rosbag(using the provided pkl_to_rosbag tool) firstly.

Thank you very much for the data you provided. The slam mapping mode seems to be normal. What code should be modified if I want to display more information on the web page such as the speed of 3D objects. I am ashamed that I tried to read the source code you posted, but I am not very familiar with TVIZ and web-related knowledge and have no ideas, so I would like to ask you to give some tips. Thanks again♪(･ω･)ﾉ image

image you can enable the check box: “目标” - > "详细信息", the detail information of objects will be visualized, the text show the " id,x,y,length,width,heading,velocity_x,velocity_y,angle_rate,accelerate_x "of each object.

w111liang222 avatar Sep 28 '23 12:09 w111liang222

the rosbag_proxy only have lidar and imu topics for slam, Is it possible to use rosbag_proxy to include lidar and image for detection ? how should I do it?

lonlonago avatar Oct 25 '24 09:10 lonlonago

the rosbag_proxy only have lidar and imu topics for slam, Is it possible to use rosbag_proxy to include lidar and image for detection ? how should I do it?

rosbag_proxy支持图像转发，原理是建立一个http server，lsd通过http请求获取图像，地库那个数据就转发了图像，单目相机检测只在v.1.x分支包含

w111liang222 avatar Oct 25 '24 09:10 w111liang222