This repository contains code for the tracking system as described in ''Combined Image- and World-Space Tracking in Traffic Scenes'', ICRA 2017.
Home Page: https://www.vision.rwth-aachen.de/
make[2]: *** No rule to make target '/home/osep/local/lib/libboost_program_options.so', needed by 'apps/TestApp'. Stop.
What's this problem?
On Ubuntu 18.04, CIWTApp crashes with a segmentation fault. The output is:
Hello from CIWT!
Tracking mode: detection.
Run tracker: YES.
Loading KITTI detections for the whole sequence ...
Could not load ground-plane parameters, fitting plane of-the-fly ...
Segmentation fault (core dumped)
Running it in GDB produces the following backtrace:
Program received signal SIGSEGV, Segmentation fault.
__GI___libc_free (mem=0x21) at malloc.c:3103
3103 malloc.c: No such file or directory.
(gdb) bt
#0 __GI___libc_free (mem=0x21) at malloc.c:3103
#1 0x00007fffe7379332 in Eigen::internal::handmade_aligned_free (ptr=<optimized out>) at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:98
#2 Eigen::internal::aligned_free (ptr=<optimized out>) at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:179
#3 Eigen::internal::conditional_aligned_free<true> (ptr=<optimized out>) at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:230
#4 Eigen::internal::conditional_aligned_delete_auto<float, true> (size=<optimized out>, ptr=<optimized out>)
at /usr/include/eigen3/Eigen/src/Core/util/Memory.h:416
#5 Eigen::DenseStorage<float, -1, -1, 1, 0>::~DenseStorage (this=0x7fffffffb6c0, __in_chrg=<optimized out>)
at /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:542
#6 Eigen::PlainObjectBase<Eigen::Matrix<float, -1, 1, 0, -1, 1> >::~PlainObjectBase (this=0x7fffffffb6c0, __in_chrg=<optimized out>)
at /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:98
#7 Eigen::Matrix<float, -1, 1, 0, -1, 1>::~Matrix (this=0x7fffffffb6c0, __in_chrg=<optimized out>) at /usr/include/eigen3/Eigen/src/Core/Matrix.h:178
#8 pcl::RandomSampleConsensus<pcl::PointXYZRGBA>::computeModel (this=<optimized out>)
at /home/sacusa/sd-apps/pcl-pcl-1.8.1/sample_consensus/include/pcl/sample_consensus/impl/ransac.hpp:62
#9 0x00007ffff3b825ef in pcl::SACSegmentation<pcl::PointXYZRGBA>::segment (this=0x7fffffffb870, inliers=..., model_coefficients=...)
at /home/sacusa/sd-apps/pcl-pcl-1.8.1/segmentation/include/pcl/segmentation/impl/sac_segmentation.hpp:97
#10 0x0000000000b1a62d in SUN::utils::PlanarGroundModel::FitModel (this=0x25787c0, point_cloud_in=..., height_threshold=1.3999999999999999)
at /home/sacusa/sd-apps/ciwt/src/sun_utils/ground_model.cpp:158
#11 0x0000000000b02d2f in SUN::utils::dirty::DatasetAssitantDirty::LoadData__KITTI (this=0x7fffffffd310, current_frame=0)
at /home/sacusa/sd-apps/ciwt/src/sun_utils/datasets_dirty_utils.cpp:394
#12 0x0000000000b01c97 in SUN::utils::dirty::DatasetAssitantDirty::LoadData (this=0x7fffffffd310, current_frame=0, dataset_string="kitti")
at /home/sacusa/sd-apps/ciwt/src/sun_utils/datasets_dirty_utils.cpp:263
#13 0x0000000000c37d49 in main (argc=7, argv=0x7fffffffde08) at /home/sacusa/sd-apps/ciwt/apps/CIWT.cpp:503
For reference, it was compiled with GCC 4.8.5 and the exact versions of the dependencies written in the README.
Hi, I am currently can not build all opencv_contrib depencies, how do you cmake opencv3.2? I try to build it but just got many unreasonable errors. Could you tell me what's package you used in ciwt, or let me know how to cmake the config. Many thanks Pal.
Hi, thanks for opensource this framework. I finally can run it on my computer, I want reproduce the result
in your paper which got the accurate 3D boundingbox. I assume should change mode to detection_3DOP mode. But once I set it in config, got this error:
Hello from CIWT!
Tracking mode: detection_3DOP.
Run tracker: YES.
[setPointCloudRenderingProperties] Could not find any PointCloud datasets with id <sample cloud>!
It can not find PointCloud datasets, but how should I set it, I have download the lidar data, how to set it? Or what data it need exactlly?
How can I get the ground truth of the KITTI testing sequences? Thank you!
Hi,
When I running the code, there is a problem: Could not load ground-plane parameters, fitting plane of-the-fly ... Where can I find the ground-plane files? Or how to generate the ground-plane files just like the disparity map? I can't find the ground-plane files generate function in the code.
Thanks.
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