tixiaoshan / imaging_lidar_place_recognition Goto Github PK

Hi,author,
Thanks for sharing your great work!
I have adjust the params.yaml to fit my OS1-64 laser,image_width: 1024, image_height: 64 and the cloud_topic,
But I can't get a good image_intensity like your demo or parper, It looks like there is a offset in different rows.
Is your data preprocessed ? Or there is something wrong with my params.yaml?

thanks for your answering!

Hello,
thank you for sharing you work.
When I run the launch file, it show

[imaging_lidar_place_recognition_main-2] process has died [pid 20188, exit code -11, cmd /home/yunqi/snap/SLAM/loop_closure/Imaging/devel/lib/imaging_lidar_place_recognition/imaging_lidar_place_recognition_main __name:=imaging_lidar_place_recognition_main __log:=/home/yunqi/.ros/log/d43f6938-7f32-11ec-a38d-a87d12044727/imaging_lidar_place_recognition_main-2.log].
log file: /home/yunqi/.ros/log/d43f6938-7f32-11ec-a38d-a87d12044727/imaging_lidar_place_recognition_main-2*.log

How can I solve it?
One possible reason might be the version of OpenCV. I compile with openCV4 and it shows some warning

/usr/bin/ld: warning: libopencv_video.so.3.2, needed by /usr/lib/x86_64-linux-gnu/libopencv_shape.so, may conflict with libopencv_video.so.4.2
/usr/bin/ld: warning: libopencv_videoio.so.3.2, needed by /usr/lib/x86_64-linux-gnu/libopencv_superres.so, may conflict with libopencv_videoio.so.4.2
/usr/bin/ld: warning: libopencv_photo.so.3.2, needed by /usr/lib/x86_64-linux-gnu/libopencv_videostab.so, may conflict with libopencv_photo.so.4.2
/usr/bin/ld: warning: libopencv_calib3d.so.3.2, needed by /usr/lib/x86_64-linux-gnu/libopencv_videostab.so, may conflict with libopencv_calib3d.so.4.2
/usr/bin/ld: warning: libopencv_features2d.so.3.2, needed by /usr/lib/x86_64-linux-gnu/libopencv_videostab.so, may conflict with libopencv_features2d.so.4.2
/usr/bin/ld: warning: libopencv_dnn.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_dnn.so.4.2
/usr/bin/ld: warning: libopencv_highgui.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_highgui.so.4.2
/usr/bin/ld: warning: libopencv_ml.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_ml.so.4.2
/usr/bin/ld: warning: libopencv_objdetect.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_objdetect.so.4.2
/usr/bin/ld: warning: libopencv_shape.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_shape.so.3.2
/usr/bin/ld: warning: libopencv_shape.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_shape.so.3.2
/usr/bin/ld: warning: libopencv_stitching.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_stitching.so.4.2
/usr/bin/ld: warning: libopencv_superres.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_superres.so.3.2
/usr/bin/ld: warning: libopencv_superres.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_superres.so.3.2
/usr/bin/ld: warning: libopencv_videostab.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_videostab.so.3.2
/usr/bin/ld: warning: libopencv_videostab.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_videostab.so.3.2
/usr/bin/ld: warning: libopencv_viz.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_viz.so.3.2
/usr/bin/ld: warning: libopencv_viz.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_viz.so.3.2
/usr/bin/ld: warning: libopencv_calib3d.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_calib3d.so.4.2
/usr/bin/ld: warning: libopencv_features2d.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_features2d.so.4.2
/usr/bin/ld: warning: libopencv_flann.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_flann.so.4.2
/usr/bin/ld: warning: libopencv_photo.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_photo.so.4.2
/usr/bin/ld: warning: libopencv_video.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_video.so.4.2
/usr/bin/ld: warning: libopencv_videoio.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_videoio.so.4.2
/usr/bin/ld: warning: libopencv_imgcodecs.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_imgcodecs.so.3.2
/usr/bin/ld: warning: libopencv_imgcodecs.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_imgcodecs.so.4.2
/usr/bin/ld: warning: libopencv_imgproc.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_imgproc.so.3.2
/usr/bin/ld: warning: libopencv_imgproc.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_imgproc.so.4.2
/usr/bin/ld: warning: libopencv_core.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_core.so.3.2
/usr/bin/ld: warning: libopencv_core.so.3.4, needed by /usr/local/lib/gcc/x86_64-linux-gnu/9.2.0/../../../libDBoW3.so, may conflict with libopencv_core.so.4.2
/usr/bin/ld: warning: libopencv_flann.so.3.2, needed by //usr/lib/x86_64-linux-gnu/libopencv_calib3d.so.3.2, may conflict with libopencv_flann.so.4.2

What's your version of openCV

I am trying to extract the intensity image of the indoor dataset, but am running into issues.

This is the result of running your code on the indoor dataset

This is the result of running your code on your rooftoop dataset (from LIO-SAM), which looks great to me! That bagfile does not include ring, time or noise data, however. Must be an ouster driver issue?

Any ideas where the problem could be? Thanks.

Hi, @TixiaoShan
Thanks for sharing your great work, I have test the method using KITTI dataset. The results show that reverse visiting detection performance is not well while the forward direction is pretty good, do you have any ideas about improving the reverse visiting recall?

Your work is amazing. I'm new to this, can you tell me how to run the kitti dataset with it? Thanks.