msf simple map create cant exit normally

[sinopec]

When I use the msf_simple_map_creator.sh to create a local map , the script will hang on "lossless_map_creator" ---- dont crach dont exit ,cant goto the next dir. just in the middle of a bundle of dirs.

GetMapNodeSafe: This node don't exist in cache! load this node from disk now!Map node (Resolution ID: 0 Zone ID: 50 Easting: 1802 Northing: 26135) I0420 11:15:28.663735 3246326 base_map_node.cc:284] []map node compress ratio: 0.0127035 I0420 11:15:28.703687 3246326 base_map.cc:247] []Loaded map node: Map node (Resolution ID: 0 Zone ID: 50 Easting: 1802 Northing: 26135) GetMapNodeSafe: This node don't exist in cache! load this node from disk now!Map node (Resolution ID: 0 Zone ID: 50 Easting: 1801 Northing: 26136) I0420 11:15:28.733476 3246326 base_map_node.cc:284] []map node compress ratio: 0.0255498 I0420 11:15:28.775014 3246326 base_map.cc:247] []Loaded map node: Map node (Resolution ID: 0 Zone ID: 50 Easting: 1801 Northing: 26136) GetMapNodeSafe: This node don't exist in cache! load this node from disk now!Map node (Resolution ID: 0 Zone ID: 50 Easting: 1801 Northing: 26135) I0420 11:15:28.805353 3246326 base_map_node.cc:284] []map node compress ratio: 0.0228496 I0420 11:15:28.846132 3246326 base_map.cc:247] []Loaded map node: Map node (Resolution ID: 0 Zone ID: 50 Easting: 1801 Northing: 26135) I0420 11:15:28.846529 3246326 base_map_config.cc:48] []Saved the map configuration to: /apollo/modules/localization/msf_mapdata/lossless_map/config.xml I0420 11:15:29.009377 3246326 base_map_node.cc:66] []Save Map Node to disk: Map node (Resolution ID: 0 Zone ID: 50 Easting: 1803 Northing: 26133). I0420 11:15:29.173291 3246326 base_map_node.cc:66] []Save Map Node to disk: Map node (Resolution ID: 0 Zone ID: 50 Easting: 1803 Northing: 26134).

[sinopec]

the command is as follows: bash /apollo/scripts/msf_simple_map_creator.sh /apollo/data/record velodyne_novatel_extrinsics.yaml 50 /apollo/modules/localization/msf_mapdata

the record dir is as follows: 20230419163026.record.00000 20230419163026.record.00004 20230419163026.record.00008 20230419163026.record.00012 20230419163026.record.00001 20230419163026.record.00005 20230419163026.record.00009 20230419163026.record.00002 20230419163026.record.00006 20230419163026.record.00010 20230419163026.record.00003 20230419163026.record.00007 20230419163026.record.00011

the record msg as follow: /apollo/sensor/livox/compensated 503 messages: apollo.drivers.PointCloud /apollo/localization/pose 6002 messages: apollo.localization.LocalizationEstimate /apollo/localization/msf_lidar 0 messages: apollo.localization.LocalizationEstimate /apollo/localization/msf_gnss

[sinopec]

Using strace , found it hang on a mutex

futex(0x56354603922c, FUTEX_WAIT_PRIVATE, 128, NULL) = -1 EAGAIN futex(0x56354603922c, FUTEX_WAIT_PRIVATE, 132, NULL

[leizi111]

Hello, I see that there is livox lidar data in your recording, I want to ask if there is an open source driver package in Apollo access to livox lidar, I looked at the livox official SDK only livox_hub, no livox_lidar.

[boyang9602]

I met the same problem. I am trying to create a LiDAR map for KITTI odometry sequence 00.

1. I converted KITTI point clouds to pcl format XYZIT
2. I extracted poses from KITTI oxts following the required format "pcd_number timestamp x y z qx qy qz qw".
3. I executed bash scripts/msf_local_map_creator.sh KITTI/2011_10_03_drive_0027_sync/pcds/ KITTI/2011_10_03_drive_0027_sync/poses.txt 32 KITTI/2011_10_03_drive_0027_sync/

It worked and generated the lossy maps (not sure if it is completed), however, it does not exit normally.

[boyang9602]

I found that there's a segmentation fault in the previous logs in my case

scripts/msf_local_map_creator.sh: line 18: 2096581 Segmentation fault      (core dumped) $APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/map_creation/lossless_map_creator --use_plane_inliers_only true --pcd_folders $1 --pose_files $2 --map_folder $4 --zone_id $3 --coordinate_type UTM --map_resolution_type single

I think that might be the issue. I will open a new issue for it