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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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Issues with Cow and Lady demo #12

Closed ESui2 closed 9 months ago

ESui2 commented 9 months ago

After a fresh install I have been unable to obtain a visualization of the cow and lady demo. The updates do not go beyond the preprocessing steps.

I started the install by creating a clone of the voxfield git through https instead of the ssh. Which showed some missing git folders in the voxfield_https.rosinstall , namely:

- git:
        local-name: numpy_eigen
        uri: https://github.com/ethz-asl/numpy_eigen.git
- git:
        local-name: catkin_boost_python_buildtool
        uri: https://github.com/ethz-asl/catkin_boost_python_buildtool.git
- git:
        local-name: catkin_grpc
        uri: https://github.com/CogRob/catkin_grpc.git

After adding this and completing the build initially it seemed that the demo's using lidar work, e.g. the basement launch files. However, the cow and lady demo does not seem to work on any of the launch files of the provided methods. The SM timing which is printed in the terminal would imply that at no point in time is the ESDF updated, which makes me wonder if the TSDF is updating as expected.

[ INFO] [1701876860.102208432, 1473521338.863154774]: Frame [21] timings:
SM Timing
-----------
integrate_np_tsdf/fast               31 00.618191       (00.019942 +- 00.008909)        [00.011724,00.045425]
mesh/publish                          2 00.001121       (00.000561 +- 00.000515)        [00.000046,00.001076]
mesh/update                           2 00.002756       (00.001378 +- 00.000355)        [00.001023,00.001733]
preprocess/input                     31 00.463469       (00.014951 +- 00.007352)        [00.006286,00.028904]
preprocess/normal_estimation         31 00.330011       (00.010646 +- 00.005289)        [00.005668,00.024717]

Would you have any idea what might be going wrong here? Thank you in advance!

ESui2 commented 9 months ago

Unlike the LIDAR datasets Cow and Lady requires a rosservice call to publish mesh etc. I overlooked this