3D bounding boxes not displaying in Ubuntu 20.04 and ROS Noetic.

[zrxwz]

Branch

noetic-devel

Question

After multiple attempts to modify yolov8n-seg.pt and voxel_leaf_size, the 3D bounding boxes still do not display. I am using kitti-track_with_cloud.launch, and both the images and point clouds display normally. The images have detection results, but the point clouds do not have any results.

Additional

No response

[zrxwz]

tracker_with_cloud_node: /opt/ros/noetic/include/image_geometry/pinhole_camera_model.h:304: std::string image_geometry::PinholeCameraModel::tfFrame() const: Assertion `initialized()' failed.

[Tonny24Wang]

This is a bug.
You should modify the /home/mm/projects/ultralytics_ros/src/ultralytics_ros/src/tracker_with_cloud_node.cpp.
move the line 'cam_model_.fromCameraInfo(camera_info_msg); ' to some line before the following
pcl::PointCloudpcl::PointXYZ::Ptr transformed_cloud;
transformed_cloud = cloud2TransformedCloud(downsampled_cloud, cloud_msg->header.frame_id, cam_model_.tfFrame(),
cloud_msg->header.stamp);
'cam_model_' should be set first.

[zrxwz]

This is a bug. You should modify the /home/mm/projects/ultralytics_ros/src/ultralytics_ros/src/tracker_with_cloud_node.cpp. move the line 'cam_model_.fromCameraInfo(camera_info_msg); ' to some line before the following pcl::PointCloudpcl::PointXYZ::Ptr transformed_cloud; transformed_cloud = cloud2TransformedCloud(downsampled_cloud, cloud_msg->header.frame_id, cam_model_.tfFrame(), cloud_msg->header.stamp); 'cam_model_' should be set first.

"Thank you for your help. I have successfully solved this issue, but now I am encountering a new problem. If you have experience in this area, I would greatly appreciate your guidance."question:"Has anyone ever done camera-radar fusion using their own equipment? After calibrating the Azure Kinect DK with the RSLidar, I often find that the bounding boxes in the point cloud appear behind the correct point cloud, and the successfully clustered red point cloud does not show up. What parts can be optimized in this situation?"