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Detecting moving object

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crsr88

Detecting moving object

Hi people,

I am registrating several scans of a room to get a 3D model of it. Now I want to detect/recognize moving objects, in particular people and remove them before determining the alignment, since I want to have only a model of my room. Also moving stuff would have probably negative influence on the alignment.

I found the pcl::PeopleDetector, but it is still under development and I guess won't be part of the PCL 1.6 release!? (unfortuanetly I never succeeded to compile PCL from source without errors).
I also tried to find a solution by estimating the quality of correspondences, because I think that moving objects should cause really bad ones, so I could extract these regions...

Does anybody has an idea or hint for me? it would be awesome!

Greetings,
Chris

Radu B. Rusu

Re: Detecting moving object

Administrator

Chris,

If you have errors compiling PCL from source you should report them. How are we supposed to fix them, when we don't even
know they exist? ;) We have a comprehensive build farm that tests our code on 5 major OS flavors at
http://build.pointclouds.org/, so we are catching these errors early in the process -- or so we hope.

Cheers,
Radu.

On 06/28/2012 09:23 AM, crsr88 wrote:

> Hi people,
>
> I am registrating several scans of a room to get a 3D model of it. Now I
> want to detect/recognize moving objects, in particular people and remove
> them before determining the alignment, since I want to have only a model of
> my room. Also moving stuff would have probably negative influence on the
> alignment.
>
> I found the pcl::PeopleDetector, but it is still under development and I
> guess won't be part of the PCL 1.6 release!? (unfortuanetly I never
> succeeded to compile PCL from source without errors).
> I also tried to find a solution by estimating the quality of
> correspondences, because I think that moving objects should cause really bad
> ones, so I could extract these regions...
>
> Does anybody has an idea or hint for me? it would be awesome!
>
> Greetings,
> Chris
>
> --
> View this message in context: http://www.pcl-users.org/Detecting-moving-object-tp4019812.html
> Sent from the Point Cloud Library (PCL) Users mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users
>

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crsr88

Re: Detecting moving object

Hi Radu,

I'm sure it's my own fault and not a problem with PCL itself ;) Probably I'll try tomorrow to compile it from source and if it fails I will report and maybe somebody can help me... It would be great if I can use all the current functionality :)

Best,
Chris

Radu B. Rusu wrote

Chris,

If you have errors compiling PCL from source you should report them. How are we supposed to fix them, when we don't even
know they exist? ;) We have a comprehensive build farm that tests our code on 5 major OS flavors at
http://build.pointclouds.org/, so we are catching these errors early in the process -- or so we hope.

Cheers,
Radu.

On 06/28/2012 09:23 AM, crsr88 wrote:
> Hi people,
>
> I am registrating several scans of a room to get a 3D model of it. Now I
> want to detect/recognize moving objects, in particular people and remove
> them before determining the alignment, since I want to have only a model of
> my room. Also moving stuff would have probably negative influence on the
> alignment.
>
> I found the pcl::PeopleDetector, but it is still under development and I
> guess won't be part of the PCL 1.6 release!? (unfortuanetly I never
> succeeded to compile PCL from source without errors).
> I also tried to find a solution by estimating the quality of
> correspondences, because I think that moving objects should cause really bad
> ones, so I could extract these regions...
>
> Does anybody has an idea or hint for me? it would be awesome!
>
> Greetings,
> Chris
>
> --
> View this message in context: http://www.pcl-users.org/Detecting-moving-object-tp4019812.html
> Sent from the Point Cloud Library (PCL) Users mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users
>

_______________________________________________
[hidden email] / http://pointclouds.org
http://pointclouds.org/mailman/listinfo/pcl-users

zoulzubazz

Re: Detecting moving object

In reply to this post by crsr88

hey chris,

could you give me a rough idea on the steps you follow to register point clouds to render 3D structures. thank you very much.

zoul

crsr88

Re: Detecting moving object

zoulzubazz wrote

hey chris,

could you give me a rough idea on the steps you follow to register point clouds to render 3D structures. thank

Hi Zoulzubazz,

I'm not doing anything special, but only following the workflow described here plus filtering steps at the beginning to remove outliers and improving the speed by downsampling the clouds. Probably I will try to use ELCH for Loop Detection and optimization of my results...

@Radu: Unfortuanetly I wasn't able to compile PCL from source. Some of the sublibraries weren't built. One problem is that the msvc-9.0 compiler doesn't know some of the used data types like uint32_t and hence throws me a lot of errors. I also tried with msvc-10.0, but there I got even more fails.

Just one question to pcl::PeopleDetector: it is only possible to use it if a Nvidia video card is provided? I'm a bit confused, because in this presentation it is mentioned, that one is requested! Or does it only speed up execution?

Greetings,
Chris

koen buys-2

Re: Detecting moving object

On 30 June 2012 21:36, crsr88 <[hidden email]> wrote:

>
> zoulzubazz wrote
>>
>> hey chris,
>>
>> could you give me a rough idea on the steps you follow to register point
>> clouds to render 3D structures. thank
>>
>
> Hi Zoulzubazz,
>
> I'm not doing anything special, but only following the workflow described
> http://pointclouds.org/documentation/tutorials/registration_api.php#registration-api
> here plus filtering steps at the beginning to remove outliers and improving
> the speed by downsampling the clouds. Probably I will try to use ELCH for
> Loop Detection and optimization of my results...
>
> @Radu: Unfortuanetly I wasn't able to compile PCL from source. Some of the
> sublibraries weren't built. One problem is that the msvc-9.0 compiler
> doesn't know some of the used data types like uint32_t and hence throws me a
> lot of errors. I also tried with msvc-10.0, but there I got even more fails.
>
> Just one question to pcl::PeopleDetector: it is only possible to use it if a
> Nvidia video card is provided? I'm a bit confused, because in
> http://www.pointclouds.org/assets/icra2012/people.pdf this presentation it
> is mentioned, that one is requested! Or does it only speed up execution?
>

The current implementation that is in PCL is dependent on a CUDA GPU.
Best with SM2.x or 3.x

Koen

> Greetings,
> Chris
>
> --
> View this message in context: http://www.pcl-users.org/Detecting-moving-object-tp4019812p4019861.html
> Sent from the Point Cloud Library (PCL) Users mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users
_______________________________________________
[hidden email] / http://pointclouds.org
http://pointclouds.org/mailman/listinfo/pcl-users

crsr88

Re: Detecting moving object

koen buys-2 wrote

On 30 June 2012 21:36, crsr88 <[hidden email]> wrote:
> Just one question to pcl::PeopleDetector: it is only possible to use it if a
> Nvidia video card is provided? I'm a bit confused, because in
> http://www.pointclouds.org/assets/icra2012/people.pdf this presentation it
> is mentioned, that one is requested! Or does it only speed up execution?
>

The current implementation that is in PCL is dependent on a CUDA GPU.
Best with SM2.x or 3.x

Koen

Thanks for the info.

Regarding my problem, I was thinking about looking at the correspondences outliers, because moving objects should cause a lot of them!? Hence I would detect the cloud area with the most outliers and use a Euclidean Cluster Segmentation only this part to get solid objects with a specified size.

Did anybody try sth like this before and can give me any advice? I'm not sure if I am right informed, but as I know, ICP outliers are used to detect moving objects in KinectFusion.

Regards,
Chris

Radu B. Rusu

Re: Detecting moving object

Administrator

In reply to this post by crsr88

Chris,

On 06/30/2012 12:36 PM, crsr88 wrote:
> @Radu: Unfortuanetly I wasn't able to compile PCL from source. Some of the
> sublibraries weren't built. One problem is that the msvc-9.0 compiler
> doesn't know some of the used data types like uint32_t and hence throws me a
> lot of errors. I also tried with msvc-10.0, but there I got even more fails.

Please create individual issues for each compiler on http://dev.pointclouds.org, as that would help us fix them. Giving
up is not an option here. We need to understand what's going on and whether it's an user error on your side or whether
there is something we omitted. There's other users our there that will most likely have the same versions as you do, so
we're trying to prevent them going through similar bad experiences.

As far as I know, we encouraged everyone to use VS 2008 or 2010, as we provide binaries and support for them
(http://www.pointclouds.org/downloads/windows.html). You should not compile PCL dependencies from source unless you have
a perfectly good reason not to use our binaries ;)

Cheers,
Radu.
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