Comments (10)
Ok, I repdroduced the error on my machine.
Problem is that I used a newer version of libpcl (1.8.1) than in the ros repos of ros kinetic (1.7.2).
However for the performance of the algorithm that should not be an issue.
Ignore the unittest error for now and try running it as described in the README.md
Looking forward to hear your feedback.
Regards
from limo.
Hi,
thanks for the interest in my work!
So what you are saying is that the project build correctly, but the unittests failed.
could you dump the output of
"catkin run_tests --profile limo_release > unittests_dump.txt" and upload it here in the issue?
Regards,
Johannes
from limo.
Thanks for your reply,
Max
from limo.
I can't reproduce the error, on my machine it works fine with a fresh install in a clean environment.
The problem arises in the landmark selection module which uses the pcl library for building a voxel grid for thinning out landmarks.
Perhaps you are using a different pcl version than me.
Can you post the output of dpkg -l "libpcl" ?
from limo.
thanks, i will try it later and then post the result :)
from limo.
Hi, i find out that the libpcl i use is 1.7.2, as the terminal shows: " libpcl-dev is already the newest version (1.7.2-14build1) " .
However i ignored the unittest error and ran it as the README.md described.
When " source ${your_catkin_workspace}/devel_limo_release/setup.sh " , it didn't work , so i think maybe it should be " source setup.bash "
When " roslaunch demo_keyframe_bundle_adjustment_meta kitti_standalone.launch ", it worked but with one error:
[ERROR] [1542177300.194857513]: "sensor/camera" passed to lookupTransform argument target_frame does not exist.
When rviz, i wondered which fix frames should i select ?
Thanks again
from limo.
For the plotting open the .rviz file that is supplied in demo_keyframe_bundle_adjustment_meta/res in Rviz.
The error message origins in tf2 since at startup it has problems to get the static transforms supplied by the .bag file. That shouldn't be a problem however. What kind of setup file you are sourcing depends on the shell environment you are using :) However make sure that you source the file in the directory devel_limo_release !
Looking forward to your feedback :)
Best regards,
Johannes
from limo.
Hi, so I look through your paper, and i wonder how to treat the feature points on the ground plane? It seems first you use RANSAC to fit a line, then how to estimate the depth? I'm a little bit confused :)
And I want to use your project to run on kitti dataset, so how can I output the pose to a text file since I want to use the pose to plot a trajectory?
Looking forward to your reply
Thanks
from limo.
The main trick is to constrain the local planes around the image features on the ground.
As contraint we use a globally estimated groundplane from the LIDAR pointcloud und punish large difference to it. The depth estimation itself is then the same as for "normal" image features f.e. on houses, etc. so we just intersect the locally estimated plane from LIDAR with the viewing ray from the camera.
For outputting the poses you have several options:
1: when you finish the program and call the destructor of the estimation node a map with all estimated landmarks and poses is dumped to /tmp (see https://github.com/johannes-graeter/limo/blob/master/keyframe_bundle_adjustment_ros_tool/src/mono_lidar/mono_lidar.cpp, line 82-84), you can ectract the poses from there and convert them to KITTI
2: Is personally just added a few lines of code writing done a text file.
3: You can write a rosnode that subscribes to tf2 and dumps the pose for each camera timestamp, which would be the cleanest solution I think.
from limo.
A yeah keep in mind that for running on KITTI, you will need to add a semantic labeling node (in the test data provided (04.bag), I included them in the .bag as additional topic)
from limo.
Related Issues (20)
- run error HOT 7
- Calculating /tf_static and /tf HOT 5
- no image recieved HOT 1
- Bulid Problem HOT 4
- build error in docker HOT 5
- Build on Ubuntu 20.04 with ROS Noetic? HOT 1
- can not use rviz in docker HOT 4
- run problem HOT 1
- Hackaton HOT 6
- can not play rosbag in docker HOT 4
- demo does not use GPU HOT 1
- Visualize odometry data like the youtube video HOT 2
- Reproducing results for sequence 1 HOT 4
- build error with ros melodic HOT 4
- Work plan for mono_lidar refactor
- Semantic segmentation frameworks HOT 2
- Hi,I meet with this problem by using"docker-compose build" HOT 3
- Build problem HOT 1
- roslaunch question HOT 8
- docker build error HOT 3
Recommend Projects
-
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
-
Vue.js
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
-
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
-
TensorFlow
An Open Source Machine Learning Framework for Everyone
-
Django
The Web framework for perfectionists with deadlines.
-
Laravel
A PHP framework for web artisans
-
D3
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
-
Recommend Topics
-
javascript
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
-
web
Some thing interesting about web. New door for the world.
-
server
A server is a program made to process requests and deliver data to clients.
-
Machine learning
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
-
Visualization
Some thing interesting about visualization, use data art
-
Game
Some thing interesting about game, make everyone happy.
Recommend Org
-
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
-
Microsoft
Open source projects and samples from Microsoft.
-
Google
Google ❤️ Open Source for everyone.
-
Alibaba
Alibaba Open Source for everyone
-
D3
Data-Driven Documents codes.
-
Tencent
China tencent open source team.
from limo.