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YWL0720 / FAST-LOCALIZATION

A LiDAR-Inertial localization package based on FAST-LIO2, operating with a known prior map.
GNU General Public License v2.0
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重定位失败 #9

Closed ZOUJIASHUAI closed 5 months ago

ZOUJIASHUAI commented 6 months ago

[Init found] Nearest distance: 0.00467 btn 75 and 13. [Init found] yaw diff: 0 deg. [Init found] Nearest distance: 0.00467 btn 75 and 13. [Init found] yaw diff: 0 deg. [ INFO] [1709178568.229404289]: Global match map id = 13 [pcl::PCDReader::readHeader] Could not find file '/home/jason/3d_ws/src/FAST-LOCALIZATION/map/pcd/13.pcd'. [pcl::IterativeClosestPoint::setInputTarget] Invalid or empty point cloud dataset given! [pcl::registration::IterativeClosestPoint::compute] No input target dataset was given! [pcl::IterativeClosestPoint::setInputTarget] Invalid or empty point cloud dataset given! [pcl::registration::IterativeClosestPoint::compute] No input target dataset was given! 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 [ INFO] [1709178568.229518162]: Global localization successfully ![Uploading 2024-02-29 11-52-03 的屏幕截图.png…]()

ZOUJIASHUAI commented 6 months ago

@YWL0720 请问这个问题需要如何调整

ZOUJIASHUAI commented 6 months ago

2024-02-29 11-52-03 的屏幕截图

ZOUJIASHUAI commented 6 months ago

看起来是没上线成功但是终端显示上线成功了

YWL0720 commented 6 months ago

[pcl::PCDReader::readHeader] Could not find file '/home/jason/3d_ws/src/FAST-LOCALIZATION/map/pcd/13.pcd'.

您好，这里显示无法加载初始定位匹配帧的pcd文件，需要保证map文件夹下的pcd文件序号是从0开始的

YWL0720 commented 5 months ago

最近测试发现scan context会返回异常的匹配帧id 应该是导致上述问题的原因 最近会提交新的代码