update

Author: HuangCongQing

object_tracking/README.md

@@ -6,19 +6,27 @@
 This package includes **Ground Removal, Object Clustering, Bounding Box, IMM-UKF-JPDAF, Track Management and Object Classification** for 3D-LIDAR multi object tracking.
 The idea is mainly come from this [paper](https://repository.tudelft.nl/islandora/object/uuid:f536b829-42ae-41d5-968d-13bbaa4ec736?collection=education).
 
+@[双愚](https://github.com/HuangCongQing) modified , 若fork或star请注明来源
+
 ### Setup
 ##### Frameworks and Packages
 Make sure you have the following is installed:
  - [ROS Kinetic](http://wiki.ros.org/kinetic)
  - [PCL 1.7.2](http://pointclouds.org/downloads/)
- - [Open CV 3.2](https://opencv.org/)
+ - [Open CV 3.2](https://opencv.org/)【PCL自带opencv，不用安装】
 
 ##### Dataset
 * Download the [Kitti Raw data](http://www.cvlibs.net/datasets/kitti/raw_data.php).
 
 ```
+// 地址已失效
+
 wget http://kitti.is.tue.mpg.de/kitti/raw_data/2011_09_26_drive_0002/2011_09_26_drive_0005_sync.zip
 wget http://kitti.is.tue.mpg.de/kitti/raw_data/2011_09_26_calib.zip
+
+// 使用下面下载
+https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_calib.zip
+https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0005/2011_09_26_drive_0005_sync.zip
 ```
 
 
@@ -27,7 +35,7 @@ wget http://kitti.is.tue.mpg.de/kitti/raw_data/2011_09_26_calib.zip
 
 ### Start
 
-#### PLEASE make sure you load the files, `src/ego_velo.txt` and `src/ego_yaw.txt` in `src/imm_ukf_jpda.cpp` l68, l69
+#### ~~PLEASE make sure you load the files, `src/ego_velo.txt` and `src/ego_yaw.txt` in `src/imm_ukf_jpda.cpp` l68, l69~~
 
 ##### Terminal 1
 ```

object_tracking/src/cluster/main.cpp

@@ -35,7 +35,7 @@
 #include <message_filters/time_synchronizer.h>  
 #include <message_filters/sync_policies/approximate_time.h>
 
-#include <object_tracking/trackbox.h>
+#include <object_tracking/trackbox.h>  // 没有这个文件？
 
 #include "component_clustering.h"
 #include "box_fitting.h"

object_tracking/src/groundremove/ground_removal.cpp

@@ -164,7 +164,7 @@ void outlierFilter(array<array<Cell, numBin>, numChannel>& polarData){
     }
 }
 
-// 主函数  main.cpp会调用此函数
+// 主函数  src/groundremove/main.cpp会调用此函数
 void groundRemove(PointCloud<pcl::PointXYZ>::Ptr   cloud,
               PointCloud<pcl::PointXYZ>::Ptr  elevatedCloud,
               PointCloud<pcl::PointXYZ>::Ptr  groundCloud){