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VIS4ROB-lab / voxfield

🦊 Voxfield: non-Projective Signed Distance Fields for Online Planning and 3D Reconstruction [IROS' 22]
BSD 3-Clause "New" or "Revised" License
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Questions about running on Newer College dataset #11

Closed marrblue closed 1 year ago

marrblue commented 1 year ago

Hi @YuePanEdward !

I am currently going to run voxfield on Newer College dataset for comparison with other methods. The ncd examble data is downloaded from shine-mapping repo. Next I use kitti2bag transform the pointcloud data and poses into a rosbag. image but it seems that the transformation process is not working. The output of voxfield is as follows: image

Basically I'm using the same parameters and configuration as for the maicity dataset. Could you please provide some hints or share a compatible rosbag file for the ncd example data? Thank you in advance!

marrblue commented 1 year ago

I solve this problem by set right frame_id for tf messsage

tf_stamped.header.frame_id = 'world'
tf_stamped.child_frame_id = 'velodyne'