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RozDavid / LOL

LOL: Lidar-only Odometry and Localization in 3D point cloud maps
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misalignment between map and source #10

Open kerimyener opened 3 years ago

kerimyener commented 3 years ago

missalignment image

as you can see on the image, the target point cloud and source representation are not perfectly aligned. Do you think I doing something wrong or do you have any idea that justifies this result? And I am always getting this fatal error during runtime as shown on the second image. Do you think it is normal?

RozDavid commented 3 years ago

Hey,

It's indeed strange behaviour and not normal. You can check why this function is getting called continouslu.

Also, can you show me a pic of your full target map? I think it is only a part of the whole sequence that you have there. You can see the target map with white and source map with colored segments, but it seems to be the white map only covers the first few meters.

Regarding the misalignment thats normal and expected, but should be resolved over the first relocalization.

Cheers and good luck, David

kerimyener commented 3 years ago

Hey,

It's indeed strange behaviour and not normal. You can check why this function is getting called continouslu.

Also, can you show me a pic of your full target map? I think it is only a part of the whole sequence that you have there. You can see the target map with white and source map with colored segments, but it seems to be the white map only covers the first few meters.

Regarding the misalignment thats normal and expected, but should be resolved over the first relocalization.

Cheers and good luck, David

map this is the whole map that you are asking for.

RozDavid commented 3 years ago

Hey,

Could you send me the output of the rqt node graph, the published topics from the bag and maybe the modified launch file you are using?

I am not sure rn what could be the problem, but you are really close to succeed.

kerimyener commented 3 years ago

Hey,

Could you send me the output of the rqt node graph, the published topics from the bag and maybe the modified launch file you are using?

I am not sure rn what could be the problem, but you are really close to succeed.

Screenshot from 2021-01-15 16-18-22 image

when i saw the fatal error i realized that there is discontinuity on a trajectory.

kerimyener commented 3 years ago

Could you please explain to me why you are publishing error on this https://github.com/RozDavid/LOL/blob/a356d88b739700ba72fbbb6654798fa04371bfe8/segmap/segmatch/src/opencv_random_forest.cpp#L289